Manipulator arm position sensing

Details Manipulator arm position sensing Manipulator arm position sensing

1988-04-20

1990-01-09

MacDonald, Allen

Boots, shoes, and leggings

901 9, 901 15, G05B 1918

Patent

active

048932540

ABSTRACT:
A method of controlling the movement of an articulated arm to permit the arm to move an end point thereof more freely and more directly to a preselected target. This smoother operation is obtained by a computer calculating the change in joint angle using an iterative pseudo inverse Jacobian having a damping factor. The damping factor is adjusted for each iteration based on the distance necessary to reach said preselected target.

REFERENCES:
patent: 4763276 (1988-08-01), Perreirra et al.

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