Boots – shoes – and leggings
Patent
1988-04-21
1990-01-16
Ruggiero, Joseph
Boots, shoes, and leggings
31856819, 31856822, 36447435, 36447436, 901 2, G06F 1546
Patent
active
048947881
ABSTRACT:
A method for positioning a tool of a multi-joint robot is disclosed in which an incorrect positioning of the tool resulting from nonideal geometrical relationships is compensated by the following steps: determining a preliminary desired angular position for each of the joints for a desired position in space of the tool based upon the reference distances and joint axis directions required to position the tool in the desired position; determining the positioning error of the tool due to the differences between the reference distances and the desired directions and the actual spacings and actual directions of the joints; transforming the determined positioning error into corresponding angular correction values for the preliminary desired angular positions of the joints by means of an inverse Jacobi matrix coordinate-transformation equation system; calculating the error-corrected angular position for each of the joints by addition of the angular correction values to the preliminary desired angular positions; and moving the tool to the desired position by rotating the joints in accordance with the error-corrected angular position calculated.
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C. Chevallereau et al., "Efficient Method for the Calculation of the Pseudo Inverse Kinematic Problem", Apr. 3, 1987, pp. 1842-1848; Proc. 1987 IEEE Intl. Conf. Div. Robotics and Automation.
J. Chen et al., "Positioning Error Analysis for Robot Manipulators with all Rotary Joints", Apr. 10, 1986, pp. 1011-1016; Proc. 1986 IEEE Intl. Conf. on Robotics and Automation, Apr. 1986.
Patent Abstracts of Japan, Band 10, No. 380 (p.528[2437], Dec. 19, 1986.
R. P. Paul, "Robot Manipulators", pp. 85-117, 1981; The MIT Press, Cambridge (Mass.) and London (GB).
Ruggiero Joseph
Siemens Aktiengesellschaft
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