Method of command control for interactive path guidance of kinem

Details Method of command control for interactive path guidance of kinem Method of command control for interactive path guidance of kinem

1998-02-02

2000-06-27

Gordon, Paul P.

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

31856811, G05B 1300

Patent

active

060817542

ABSTRACT:
Beginning with a successive commanded end-effector destination shift, the method of the invention, which includes a calculation corresponding to a special algorithm of inverse kinematics using the Jacobi Matrix in the control of a manipulator, effects an optimization of weighted criteria (energy criteria and reference-position criteria) in a real time cycle. The method of the invention can be used in interactive path guidance of a kinematically-redundant manipulator.

REFERENCES:
patent: 5159249 (1992-10-01), Megherbi
patent: 5430643 (1995-07-01), Seraji
patent: 5550953 (1996-08-01), Seraji
Hu, "Relation Between Global Velocity and Local Torque Optimization of Redundant Manipulators", Journal of Robotics Systems, vol. 11, No. 4, pp. 271-279, (1994).
Schlemmer, "On-line Trajectory Optimization for Kinematically Redundant Robot-Manipulators and Avoidance of Moving Obstacles", Institute of Electrical and Electronics Engineers, vol. 1, pp474-479, (1996).
Sadegh, "Optimal Kinematic Control of Constrained and Redundant Manipulators", Institute of Electrical and Electronics Engineers, vol. 1, pp. 620-625, (1992).

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