Robots – Counterbalance
Patent
1994-04-20
1996-08-27
Downs, Robert W.
Robots
Counterbalance
395 97, 395 80, 901 15, G05B 1500, G05B 1900
Patent
active
055509533
ABSTRACT:
A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.
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Downs Robert W.
Hafiz Tariq R.
Kusmiss John H.
The United States of America as represented by the Administrator
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