Manipulator with adaptive velocity controlled path motion

Details Manipulator with adaptive velocity controlled path motion Manipulator with adaptive velocity controlled path motion

1982-05-13

1984-06-05

Ruggiero, Joseph F.

Boots, shoes, and leggings

318568, 318573, 364174, 364191, G06F 1546, G05B 1942

Patent

active

044532210

ABSTRACT:
A manipulator and control are provided for moving a function element carried by the manipulator in accordance with programmed input signals defining positions and path velocities therebetween of a tool centerpoint associated with the function element. The path velocity is made susceptible of variation in accordance with unprogrammed variations of a parameter manually or automatically produced. Motion of the tool centerpoint is effected by interpolation of intermediate point along a predetermined path between any two preprogrammed positions. Each intermediate point is displaced from its predecessor by an increment computed in accordance with a fixed increment interval period and an instantaneously variable increment velocity. Incremental velocity values are computed selectively in accordance with a simple function relating the variable parameter and velocity and in accordance with the preprogrammed definition of motion.

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Abele, "Adaptive Controls for Fettling of Castings With IR", Robot Vision and Sensory Controls, Apr. 1, 1981, pp. 81-90, Cotswold Press Ltd., Oxford, England.
Rudnicki et al., "The Application of the Adaptive Robot with Force Sensors to Casting-Cleaning Communication About Work in Progress", Robot Vision and Sensory Controls, Apr. 1, 1981, pp. 91-98, Cotswold Press Ltd., Oxford, England.

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