Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1990-11-19
1992-09-22
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318567, 31856819, 364191, 901 47, 395 90, G05B 1942
Patent
active
051500264
ABSTRACT:
A redundant robot control scheme is provided for avoiding obstacles in a workspace during motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance therebetween is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.
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patent: 4808063 (1989-02-01), Haley
patent: 4834531 (1989-05-01), Ward
patent: 4860215 (1989-08-01), Seraji
patent: 4902126 (1990-02-01), Koechner
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patent: 4999553 (1991-03-01), Seraji
patent: 5023808 (1991-06-01), Seraji
patent: 5049796 (1991-09-01), Seraji
Seraji et al., "Obstacle Avoidance for Redundant Robots Using Configuration Control", Dec. 1989, Journal of Robotic Systems, vol. 6, No. 6, pp. 721-745.
Colbaugh Richard D.
Glass Kristin L.
Seraji Homayoun
Ip Paul
Jones Thomas H.
Manning John R.
Miller Guy M.
The United States of America as represented by the Administrator
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