Dynamic control of a robot with its center of mass decoupled fro

Details Dynamic control of a robot with its center of mass decoupled fro Dynamic control of a robot with its center of mass decoupled fro

1991-06-12

1993-05-25

MacDonald, Allen R.

Boots, shoes, and leggings

395 94, 395 96, 36442402, 901 48, G06F 1500

Patent

active

052147495

ABSTRACT:
A robot is provided with a dynamically controlled center of mass which is decoupled from the end effector. The robot is comprised of a moving arm including a redundant linkage of connecting links and joints coupled to an end effector. The movement of the links and joints of the robot are coordinated by a dynamic servo controller. The robot has at least twice as many degrees of freedom as the number of operating dimensions. Also, for each dimension of operation, there is one group of masses that moves in the same direction as the end effector and another group of masses capable of independently moving in the same or opposite direction. This separation of the motion of the center of mass from the motion of the end effector can be used to decrease reaction forces and to generate significant forces at the end effector.

REFERENCES:
patent: 3618786 (1971-11-01), Fick
patent: 4297908 (1981-11-01), Zimmer
patent: 4433382 (1984-02-01), Cunningham
patent: 4620829 (1986-11-01), Herve
patent: 4648785 (1987-03-01), Nakagawa et al.
patent: 4695027 (1987-09-01), Lindholm et al.
patent: 4712971 (1987-12-01), Fyler
patent: 4756662 (1988-07-01), Tanie et al.
patent: 4775289 (1988-10-01), Kazerooni
patent: 4925312 (1990-05-01), Onaga et al.
Patent Abstracts to Denmark Patent Nos. 3,038,436 and 2,000,013.

Affiliated with

Also associated with

Rating

Dynamic control of a robot with its center of mass decoupled fro does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Dynamic control of a robot with its center of mass decoupled fro, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Dynamic control of a robot with its center of mass decoupled fro will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-904471