Method of controlling a seven degree of freedom manipulator arm

Details Method of controlling a seven degree of freedom manipulator arm Method of controlling a seven degree of freedom manipulator arm

1990-01-30

1990-10-30

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318567, 318571, 364513, 364163, 364165, 901 9, 901 23, B25J 906, G06F 1546

Patent

active

049671260

ABSTRACT:
The present invention is a control system for a seven-degree-of-freedom robotic arm. The robotic arm (10) includes two links (12 and 14), each having two degrees of freedom, and a spherical wrist (26) having three degrees of freedom. The kinematics of the spherical wrist are decoupled from the kinematics of the arm. The four degrees of freedom of the arm create a redundancy which provides versatility in the positioning of the arm. Fixing the redundant arm parameter and locating the end point (24) of the end effectuator path away from areas of limited mobility results in a marked simplification of the algorithms which describe the equations of motion of the arm. Additionally, further computation reduction can be achieved by updating the control gains less frequently than every microprocessor cycle, such as updating once for every five degrees of pitch angle rotation of either joint.

REFERENCES:
patent: 4808063 (1989-02-01), Haley
patent: 4860215 (1989-08-01), Seraji

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