Electricity: motive power systems – Motor-reversing – Armature or primary circuit control
Patent
1994-05-02
1997-02-11
Davis, George B.
Electricity: motive power systems
Motor-reversing
Armature or primary circuit control
395 80, 395 86, 395 87, 31856818, G05B 1300, G05B 1942
Patent
active
056029683
ABSTRACT:
The invention is embodied in a method of controlling a robot manipulator moving toward a target frame F.sub.0 with a target velocity v.sub.0 including a linear target velocity .nu. and an angular target velocity .omega..sub.0 to smoothly and continuously divert the robot manipulator to a subsequent frame F.sub.1 by determining a global transition velocity v.sub.1, the global transition velocity including a linear transition velocity .nu..sub.1 and an angular transition velocity .omega..sub.1, defining a blend time interval 2.tau..sub.0 within which the global velocity of the robot manipulator is to be changed from a global target velocity v.sub.0 to the global transition velocity v.sub.1 and dividing the blend time interval 2.tau..sub.0 into discrete time segments .delta.t. During each one of the discrete time segments .delta.t of the blend interval 2.tau..sub.0, a blended global velocity v of the manipulator is computed as a blend of the global target velocity v.sub.0 and the global transition velocity v.sub.1, the blended global velocity v including a blended angular velocity .omega. and a blended linear velocity .nu., and then, the manipulator is rotated by an incremental rotation corresponding to an integration of the blended angular velocity .omega. over one discrete time segment .delta.t.
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Davis George B.
Kusmiss John H.
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