Velocity method of controlling industrial robot actuators

Details Velocity method of controlling industrial robot actuators Velocity method of controlling industrial robot actuators

1983-01-18

1986-06-10

Smith, Jerry

Boots, shoes, and leggings

364174, 364551, 364190, 318568, 901 3, 901 4, G05B 19407, G05B 1132, B25J 900, G09C 000

Patent

active

045946710

ABSTRACT:
A method of controlling an industrial robot wherein velocities of the actuators for the robot are based on the velocity of a robot hand moving along a predetermined path of travel. When the velocity of any single actuator exceeds its ability, the velocities of the actuators are revised so as to bring the velocities of all the actuators within their abilities, thereby revising the velocity of the robot hand along its path of travel. Calculation of the velocity of each actuator may be carried out based on the position and posture of the robot hand and a Jacobian matrix.

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Whitney, "The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators", Transactions of ASME, Journal of Dynamic Systems, Measurement and Control, Paper No. 72-WA/Aut-4, 1973.

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