Boots – shoes – and leggings
Patent
1983-12-07
1986-08-05
Smith, Jerry
Boots, shoes, and leggings
364167, 364174, 364192, 318567, 318568, 318625, G09C 0000, G05B 1132, G05B 1910
Patent
active
046047166
ABSTRACT:
A method for controlling a multi-joint robot having redundant operating joints, wherein joint velocities are calculated for non-redundant joints with redundant joints being fixed for each of at least a portion of the combinations of the non-redundant joints excluding redundant joints capable of attaining the movement of the robot end at a command velocity specified to the robot, by inverse-coordinate-transformation from the spatial coordinate to a joint coordinate inherent to the robot, on the basis of joint angles detected by an encoder mounted on the joints of the robot and the joint velocities are averaged or nearly averaged to obtain the average value or nearly average value as a desired joint velocity for the joints. The desired joint velocity is supplied to a velocity control unit of the robot as a controlled variable.
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Higashino Jun'ichi
Kato Kanji
Naruse Akisuke
Grossman Jon D.
Hitachi , Ltd.
Smith Jerry
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