Manipulator arm position sensing

Details Manipulator arm position sensing Manipulator arm position sensing

1988-02-23

1989-05-02

Werner, Frank E.

Material or article handling

Vertically swinging load support

Shovel or fork type

901 47, 414699, 414688, B66C 2300

Patent

active

048263915

ABSTRACT:
An apparatus determining relative positions of arm elements of a manipulator having at least two relatively moveable arm segments uses image analysis and a model of the manipulator to analyze an image of the two arms to determine the joint angles between adjacent arms.

REFERENCES:
patent: 4412206 (1983-10-01), Schwefel
patent: 4453085 (1984-06-01), Pryor
patent: 4613942 (1986-09-01), Chen
patent: 4676002 (1987-06-01), Slocum
patent: 4715772 (1987-12-01), Kanayama
patent: 4753569 (1988-06-01), Pryor
patent: 4776750 (1988-10-01), Griswald, Jr. et al.
Hildreth, Ellen C., "Edge Detection for Computer Vision System", Mechanical Engineering, Aug., 1982, pp. 48-53.
End-Point Control of a Folding Arm Crane, Skogsarbeten, Bjorn Lofgren, 1986-09-29.

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