Patent
1993-12-27
1996-12-17
Davis, George B.
395 96, 395 88, 395 92, 395 81, A61B 511, G06F 1546
Patent
active
055862241
ABSTRACT:
A method for programming a robot or forming a numerical control program for a machine tool comprises analyzing the actual motions of a human being and designing a new motion based on knowledge obtained by analysis of the forces and torques acting on the joints of the human body. A robot body or machine tool is divided into a plurality of independent elements, and the motion of each element, when a force corresponding to a basic motion of a human being is exerted thereon, is calculated using dynamics. Constraints including the articulation of the robot body or machine tool and the range of movements of its joints are applied to the robot body or machine tool. Forces corresponding to motions produced by the application of constraints are calculated by inverse dynamics. The motions of and forces acting on the elements of the robot body or machine tool are displayed on a screen.
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Kunii Toshiyasu
Sun Lining
Davis George B.
Shukyohojin, Kongo Zen Sohonzan Shorinji
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