发明名称 |
Motion controller for redundant or nonredundant linkages |
摘要 |
A linkage mechanism, such as an industrial robot, comprises an electronic motion controller and a set of self-driven joints. A controller receives a series of end effector positions from memory or from a host control system which define a routine for the mechanism to execute in relation to a predetermined reference frame such as cartesian coordinates. Angular values for the joints are computed in real time which follow the predetermined reference frame values in a manner which avoids the problems of singularities and which efficiently accommodates kinematic redundancy. A corresponding drive signal is generated for each joint.
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申请公布号 |
US4975856(A) |
申请公布日期 |
1990.12.04 |
申请号 |
US19880208783 |
申请日期 |
1988.06.16 |
申请人 |
ROBOTICS RESEARCH CORPORATION |
发明人 |
VOLD, HARVARD I.;FARRELL, JAMES D. |
分类号 |
B25J9/16;B25J9/18;G05B19/4061;G05B19/414 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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