Patent
1993-11-10
1996-05-21
Downs, Robert W.
395 80, 395 89, 395901, G05B 1900, G05B 1500
Patent
active
055198147
ABSTRACT:
This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.
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Mangaser et al, "Concurrent programming support for a multi-manipulator experiment on RIPS"; 1989 IEEE International conference on robotics and automation, p. 853-859 vol. 2, 14-19 May 1989.
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Azim et al, "A custom dsp chip to implement a robot motion controll"; IEEE 1988 custon integrated circuits conference, pp. 8.7.1-8.7.6, 1988.
Jain Abhinandan
Kreutz Kenneth K.
Rodriguez Guillermo
Downs Robert W.
Hafiz Tariq
Kusmiss John H.
The United States of America as represented by the Administrator
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