Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1991-06-24
1993-11-09
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318567, 318573, 901 9, 364150, 395 83, G05B 1942, G06F 1546
Patent
active
052606295
ABSTRACT:
The present invention discloses a control device containing a device detecting a velocity or an acceleration parameter of the main robot body. The velocity or acceleration parameters are expressed in a robot coordinate system and is detected from the detection device. The output from the detection device is even added to a desired value that is expressed in an absolute coordinate system that is in an inertial reference frame for an arm of the robot. In this way, the robot arm can be made to follow any desired path, by using desired positions in the absolute coordinate system that is an inertial coordinate system.
REFERENCES:
patent: 4147966 (1979-04-01), Kain et al.
patent: 4178632 (1979-12-01), Anthony
patent: 4283764 (1981-08-01), Crum et al.
patent: 4367532 (1983-01-01), Crum et al.
patent: 4433382 (1984-02-01), Cunningham et al.
patent: 4510428 (1985-04-01), Dunne
patent: 4580085 (1986-04-01), Eto et al.
patent: 4580229 (1986-04-01), Koyama et al.
patent: 4603284 (1986-07-01), Perzley
patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4639652 (1987-01-01), Takahashi et al.
patent: 4659971 (1987-04-01), Suzuki et al.
patent: 4670849 (1987-06-01), Okada et al.
patent: 4691152 (1987-09-01), Ell et al.
patent: 4718078 (1988-01-01), Bleidorn et al.
patent: 4725942 (1988-02-01), Osuka
patent: 4734866 (1988-03-01), Bartelt et al.
patent: 4792737 (1988-12-01), Goff et al.
patent: 4843293 (1989-06-01), Futami
patent: 4864209 (1989-09-01), Seki et al.
patent: 4868473 (1989-09-01), Kato
patent: 4887015 (1989-12-01), Kurakake et al.
patent: 4887307 (1989-12-01), Orii et al.
patent: 4906907 (1990-03-01), Tsuchihashi et al.
patent: 4916375 (1990-04-01), Kurakake et al.
patent: 4975856 (1990-12-01), Vold et al.
patent: 4999557 (1991-03-01), Inoue
patent: 5006770 (1991-04-01), Sakamoto et al.
Resolved Motion Rate Control of Space Robotic Manipulators with Generalized Jacobian Matrix, by Yoji Umetani and Kazuya Yoshida, JRSJ vol. 7, No. 4, Aug., 1989, pp. 63-73.
On the Dynamics of Manipulators in Space Using the Virtual Manipulator Approach by Z. Vafa and S. Dubowsky, 1987 IEEE, pp. 579-585.
Experiments on the Control of a Satellite Manipulator by Harold L. Alexander, Robert H. Cannon, Jr.--Proc. Material Handling Research Focus, Georgia Institute of Technology, pp. 1-10 (1986).
Sensor Feedback Control of Space Manipulators by Yasuhiro Masutani, Fumio Miyazaki and Suguru Arimoto--Pre-Prints of Fifth Lectures of Robotics Society of Japan, pp. 245-245, 1987.
Ioi Kiyoshi
Katsuragawa Takashi
Miki Osamu
Noro Osamu
Ip Paul
Kawasaki Jukogyo Kabushiki Kaisha
LandOfFree
Control device for robot in inertial coordinate system does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Control device for robot in inertial coordinate system, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Control device for robot in inertial coordinate system will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-1145537