Method and apparatus for control of an articulated robot

Details Method and apparatus for control of an articulated robot Method and apparatus for control of an articulated robot

1983-10-07

1986-04-01

Smith, Jerry

Boots, shoes, and leggings

364731, 364757, G06F 1550

Patent

active

045802297

ABSTRACT:
An apparatus for controlling an articulated robot comprises coordinate transforming portions (5 to 8 and 18) and a calculating portion (9) for equation of motion. The coordinate transforming portions (5 to 8 and 18) perform coordinate transformation between the Cartesian coordinate system and the articular system with respect to the position data, speed data, acceleration data and force data. The coordinate transforming portions (5 to 8 and 18) are respectively formed of hardware and accordingly, the calculation speed therein is extremely high as compared with the case using software. The calculating portion (9) for equation of motion solves the inverse problem of an equation of motion using the speed data (d.alpha.) and acceleration data (d.sup.2 .alpha.) in the articular coordinate system, whereby predictive control is performed. The calculating portion (9) for equation of motion is also formed of hardware and accordingly, the calculation speed therein is extremely high. In addition, the above described controlling apparatus further comprises a force feedback loop, so that the RCC (Remote Center of Compliance) can be realized in the arms per se of a robot.

REFERENCES:
patent: 3763358 (1973-10-01), Cargille
patent: 4156835 (1979-05-01), Whitney et al.
patent: 4380696 (1983-04-01), Masaki

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