Electricity: motive power systems – Positional servo systems – Adaptive or optimizing systems including 'bang-bang' servos
Patent
1989-12-28
1991-03-12
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Adaptive or optimizing systems including 'bang-bang' servos
318646, 318648, 318628, 364478, 364513, 901 9, 901 14, G05B 1942
Patent
active
049995537
ABSTRACT:
A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.
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Ip Paul
Jones Thomas H.
Manning John R.
Shoop Jr. William M.
The United States of America as represented by the Administrator
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