Motion controller for redundant or nonredundant linkages

Details Motion controller for redundant or nonredundant linkages Motion controller for redundant or nonredundant linkages

1988-06-16

1990-12-04

Ruggiero, Joseph

Boots, shoes, and leggings

31856819, 36447436, 901 15, G06F 1546, G05B 1918

Patent

active

049758560

ABSTRACT:
A linkage mechanism, such as an industrial robot, comprises an electronic motion controller and a set of self-driven joints. A controller receives a series of end effector positions from memory or from a host control system which define a routine for the mechanism to execute in relation to a predetermined reference frame such as cartesian coordinates. Angular values for the joints are computed in real time which follow the predetermined reference frame values in a manner which avoids the problems of singularities and which efficiently accommodates kinematic redundancy. A corresponding drive signal is generated for each joint.

REFERENCES:
patent: 4547858 (1985-10-01), Horak
patent: 4594671 (1986-06-01), Sugimoto et al.
patent: 4604716 (1986-08-01), Kato et al.
patent: 4608651 (1986-08-01), Murakami et al.
patent: 4612487 (1986-09-01), Shimomura
patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4625285 (1986-11-01), Mori et al.
patent: 4680519 (1987-07-01), Chand et al.
Klein, C. A., and Huang, C. H., 1983, "Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators", IEEE Trans. Systems, Man, Cybern., SMC-113, pp. 245-250.
Benati, M., Morasso, P., and Tagliasco, V., 1982, "The Inverse Kinematic Problem for Anthropomorphic Manipulator Arms", ASME J. Dynamic Systems, Meas., Control, 104, pp. 110-113.
Yoshikawa, T., 1984a, "Analysis and Control of Robotic Manipulators with Redundancy", Robotics Research: The First International Symposium, ed. M. Brad and R. Paul, Cambridge, Mass., MIT Press, pp. 735-748.
Yoshikawa, T., 1984b Aug. 20-23, "Manipulatability of Robotic Mechanisms", Preprints of the 2nd Intl. Symp. of Robotics Research, Kyoto, Japan, pp. 91-98.
Konstantinov, M. S., Genova, P. Y., Zamanov, V. B., Patarinski, S. P. and Nenchev, D. N. 1984, "Coordinate Transformations and Inverse Kinematics for Industrial Robots".
Hollerbach, J. M. and Suh, K. C., 1985, "Redundancy Resolution of Manipulators Through Torque Optimization", MIT Artificial Intelligence Lab.
Baillieul, J., "Kinematic Programming Alternatives for Redundant Manipulators", Reprinted from IEEE International Conference on Robotics and Automation, St. Louis, Mo., Mar. 25-28, 1985.
Baillieul, J., Hollerbach, J. and Brockett, R., "Programming and Control of Kinematically Redundant Manipulators", Reprinted from the 23rd IEEE Conference on Decision and Control, Dec. 12-14, 1984.
"An Inverse Kinematic Solution for Kinematically Redundant Robot Manipulators", Oh et al., J. Robotic Sys., 1(3), 235-249(1984).
"Dynamics of Redundant Robots-Inverse Solutions", Huston et al., Robotica (1986), vol. 4, 263-267.
"Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments", Maciejewski et al., Inter. Journal of Robotics Research, vol. 4, No. 3, 1985, 109-117.
"Dynamics of Multirigid-Body Systems", Huston et al., J. Applied Mechanics, 1978, vol. 45, pp. 889-894.
"Time-Optimal Control of Robotic Manipulators Along Specified Paths", Bobrow et al., Inter. J. Robotics Res., vol. 4, No. 3, 1985, 3-17.
"The Use of Kane'Dynamical Equations in Robotics", Kane et al., Inter. J. Robotics Res., vol. 2, No. 3, 1983, 3.varies.21.
"Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint Angles", Featherstone, Inter. J. Robotics Res., vol. 2, No. 2, 35-45.
"A Pose Correction Algorithm", Tucker et al., ASME 1985 Winter Annual Meeting.
"Inverse Kinematics Solutions for General Spatial Linkages", Tucker et al., submitted ASME Journal, Aug. 1985.
"Kinematic Arrangements Used in Industrial Robots", Colson et al., 13th International Conference Proceedings, 20.1-20.18, 18, 1983.
"Kinematic Control Equations for Simple Manipulators", Paul et al., IEE Transactions on Systems, Man and Cybernetics, SMC-11, No. 6, 1981, 449-455.
"A Kinematic CAD Tool for the Design and Control of a Robot Manipulator", Wu, Inter. J. of Robotics Res., vol. 3, No. 1, 1984, 58-67.
"Robot Arm Geometric Link Parameter Estimation", Hayati, 22nd IEEE Conf. on Decision and Control, Dec. 1983, 1477-1483.
"A Kinemaic Notation for Lower-Pair Mechanisms Based on Matrices", Denavit et al., J. Applied Mechanics, vol. 22, 1955, 215-221.
"Identification of the Kinematic Parameters of a Robot Manipulator for Positional Accuracy Improvement", Hsu et al., Computers in Eng. 1985, pp. 263-267.
"Determination of Linkage Parameter and Pair Variable Errors in Open Chain Kinematic Linkages using a Mimimal Set of Pose Measurement Data", Ibana et al., Trans. of ASME, 85-DET-51, 1985, 1-8.

Affiliated with

Also associated with

Rating

Motion controller for redundant or nonredundant linkages does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Motion controller for redundant or nonredundant linkages, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Motion controller for redundant or nonredundant linkages will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-887421