Kinematic functions for redundancy resolution using configuratio

Details Kinematic functions for redundancy resolution using configuratio Kinematic functions for redundancy resolution using configuratio

1992-10-27

1994-03-15

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318561, 318646, 318628, 395 95, 901 9, G05B 1942

Patent

active

052948730

ABSTRACT:
The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals are accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix or the end-effector mass matrix that affect the inertial torques, or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical-advantage and velocity-ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy resolution criteria. The new goals for redundancy resolution allow a more efficient utilization of the redundant joints based on the desired task requirements.

REFERENCES:
patent: 4547858 (1985-10-01), Horak
patent: 4594671 (1986-06-01), Sugimoto et al.
patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4625285 (1986-11-01), Mori et al.
patent: 4680519 (1987-07-01), Chand et al.
patent: 4975856 (1990-12-01), Vold et al.
patent: 4999553 (1991-03-01), Seraji
patent: 5023808 (1991-06-01), Seraji
patent: 5049796 (1991-09-01), Seraji
patent: 5086400 (1992-02-01), Hayati et al.

Affiliated with

Also associated with

Rating

Kinematic functions for redundancy resolution using configuratio does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Kinematic functions for redundancy resolution using configuratio, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Kinematic functions for redundancy resolution using configuratio will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-1538229