Method for controlling a manipulator relative to a moving workpi

Details Method for controlling a manipulator relative to a moving workpi Method for controlling a manipulator relative to a moving workpi

1993-05-07

1996-06-04

Martin, David S.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

31856819, 901 38, 901 47, B25J 1902

Patent

active

055236634

ABSTRACT:
A method for real-time three-dimensional control of position and attitude of an end effector of a manipulator relative to a moving workpiece. Angles of revolute joints of the manipulator are controlled by harmonizing a first control methodology, wherein the z-axis coordinate of the end effector and the attitude of the end effector are controlled based on input target values for the position and attitude of the end effector, with a second control methodology, wherein the x-axis and y-axis coordinates of the end effector are controlled responsive to image data captured by a camera mounted to the manipulator.

REFERENCES:
patent: 4146924 (1979-03-01), Birk et al.
patent: 4833383 (1989-05-01), Skarr et al.
patent: 4941106 (1990-07-01), Krieger
patent: 4965499 (1990-10-01), Taft et al.
patent: 5055755 (1991-10-01), Ozawa et al.
patent: 5066902 (1991-11-01), Watanabe
patent: 5159249 (1992-10-01), Megherbi
patent: 5165841 (1992-11-01), Asano et al.

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