Process for controlling a robot arm by defining substitution pat

Details Process for controlling a robot arm by defining substitution pat Process for controlling a robot arm by defining substitution pat

1992-01-08

1993-08-31

Ip, Paul

Electricity: motive power systems

Armature circuit control

Impedance-controlled

31850822, 318594, 901 8, 901 20, 364183, B25J 916, B25J 902

Patent

active

052412490

ABSTRACT:
A process for controlling a robot arm having a certain number of articulations or joints (A to F), which can abut. Substitution paths are automatically defined by calculation or by the choice of intermediate objectives in order to arrive at destination points, when the direct path would involve the abutment of certain joints.

REFERENCES:
patent: 4488242 (1984-12-01), Tabata et al.
patent: 4594670 (1986-06-01), Itoh
patent: 4967126 (1990-10-01), Gretz et al.
patent: 4980839 (1990-12-01), Souji et al.
patent: 5021970 (1991-06-01), Mohri et al.
patent: 5062755 (1991-11-01), Lawrence et al.

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