Boots – shoes – and leggings
Patent
1987-03-02
1989-03-07
Smith, Jerry
Boots, shoes, and leggings
364148, 36416701, 401 2, 401 15, B25J 900, G05B 1918
Patent
active
048112488
ABSTRACT:
A method of and apparatus for determining a position of a working original point at which working characteristics of a multi-joint manipulator are at optimum. According to the method and apparatus, a working point at which a hand mounted on the multi-joint manipulator works and a workspace needed for the work are assigned. Subsequently, a set of positions of the working original point of the multi-joint manipulator at which the hand may reach the workspace is calculated. Also, values of evaluation functions representative of preference of the working characteristics of the multi-joint manipulator are calculated with respect to the respective positions of the set. Then, the values of the evaluation functions are compared with each other, thereby selecting the position of the working original point at which the working characteristics are at optimum.
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Sekido Akihito
Senoh Makoto
Sugiyama Sakae
Suzuki Masanori
Tomizawa Fumio
Gordon Paul
Hitachi , Ltd.
Smith Jerry
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