Process for the control of active moving body relative to a loca

Details Process for the control of active moving body relative to a loca Process for the control of active moving body relative to a loca

1986-11-24

1988-05-31

Levy, Stewart J.

Motor vehicles

Compensating devices

180168, 901 9, B62D 504, B62D 124

Patent

active

047474580

ABSTRACT:
The object of the present invention is to greatly simplify the final control of a sensitive, active robot moving in a passive environment. It consists of equipping the robot with a plurality of directional proximetric transducers C.sub.i, to which are allocated, for a given operating mode, virtual elementary actions making it possible to determine a control vector of the different actuators (4.1-4.2) responsible for the robot movements. The virtual elementary action allocated to each sensor is weighted by a virtual mass or coefficient m.sub.i. The center of gravity of the virtual masses m.sub.i preferably coincides with the control frame of the robot. The invention is more particularly usable in robotized remote manipulation.

REFERENCES:
patent: 3888362 (1975-06-01), Fletcher et al.
patent: 4500970 (1985-02-01), Daemmer
patent: 4588041 (1986-05-01), Tsuchihashi
Asakawa, "A Robot with Optical Position Feedback", 1982, pp. 1276-1281.
Affinito, "Computer Controlled Robot with Ultrasonic Sensor", Jan. 1976, pp. 2665-2667, IBM Technical Disclosure Bulletin.

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