Manipulator and control method

Details Manipulator and control method Manipulator and control method

1989-03-20

1990-05-22

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318574, 318575, 364513, 901 9, 901 20, 188 724, 188366, B25J 102

Patent

active

049280473

ABSTRACT:
A multiple-degree-of-freedom manipulator having a plurality of joints is improved by providing some of said plurality of joints being provided with holding brakes, and providing any remaining joints with actuators which generate angular acceleration or linear acceleration in the joints provided with holding brakes while the holding brakes of the joints are released. A method of controlling the multiple-degree-of-freedom manipulators provided with one or more joints provided with holding brakes and one or more joints provided with actuators, comprises the steps of controlling the angular displacement or linear displacement of joints which have no actuators by the torque or force of joints which have actuators by means of the dynamic coupling between joints while the holding brakes are released, and controlling the angular displacement or linear displacement of joints which have actuators by means of the actuators while the brakes are engaged.

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patent: 4693665 (1987-09-01), Friederichs et al.
patent: 4725942 (1988-02-01), Osuka

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