Organic compounds -- part of the class 532-570 series – Organic compounds – Amino nitrogen containing
Patent
1995-04-28
1998-04-07
Hafiz, Tariq R.
Organic compounds -- part of the class 532-570 series
Organic compounds
Amino nitrogen containing
56416701, 31856811, 31856824, 901 9, 901 15, 395 98, 395 97, G05B 1904, G05B 1918
Patent
active
057375003
ABSTRACT:
The present invention is a mobile redundant dexterous manipulator with a seven-degree-of-freedom robot arm mounted on a 1 degree-of-freedom mobile platform with a six-degree-of freedom end effector including a real-time control system with multiple modes of operation. The manipulator-plus-platform system has two degrees-of-redundancy for the task of hand placement and orientation. The redundancy resolution is achieved by accomplishing two additional tasks using a configuration control technique. This mobile manipulator with control system allows a choice of arm angle control or collision avoidance for the seventh task, and platform placement or elbow angle control for the eighth task. In addition, joint limit avoidance task is automatically invoked when any of the joints approach their limits. The robot is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector.
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Lee Thomas S.
Lim David
Seraji Homayoun
California Institute of Technology
Hafiz Tariq R.
Smith Jeffrey S.
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