Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1985-09-23
1987-07-14
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
364169, 364513, 364731, 364191, 901 3, G05B 1918
Patent
active
046805192
ABSTRACT:
A method for controlling an articulated robot manipulator with an offset wrist made with only rotary joints. The method relates to transforming a given position and orientation of the robot tool or end effector in Cartesian space to the equivalent joint angles of the robot. Commands generated from the joint angles are sent to actuators connected to the rotary joints, where the desired motion of the robot tool is generated. This method of transforming a point in Cartesian space to joint angles is accomplished by providing a cross-product and dot-product recursive methods that employ the robot geometry to determine the location of the the end effector, such that the computational complexity of the techniques allows real-time computations for current state of the art microprocessors.
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Featherstone, R. "Position and Velocity Transformations Between Robot End-Effector Coordinates and Joint Angles", pp. 35-45, The International Journal of Robotics Research, vol. 2, No. 2 1983.
Chand Sujeet
Sadre Ahmad
Austin Ormand R.
General Electric Co.
Keane Patrick C.
Shoop Jr. William M.
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