发明名称 |
Object oriented motion system |
摘要 |
An object oriented motion system for controlling the movement of a robotic manipulator is presented. The motion system includes a trajectory generator object for producing a stream of machine joint commands. A kinematics object is operable to provide a set of robotic arm specific functions for the trajectory generator object. A servo object provides an interface to the servo system. The stream of machine motor commands are converted by the servo object to a stream of signals that drive the servo system, thereby controlling the trajectory of the robot arm.
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申请公布号 |
US6341246(B1) |
申请公布日期 |
2002.01.22 |
申请号 |
US19990277641 |
申请日期 |
1999.03.26 |
申请人 |
KUKA DEVELOPMENT LABORATORIES, INC. |
发明人 |
GERSTENBERGER MICHAEL D.;GREIG SCOTT D.;MARTIN DAVID M.;MIRZA KHALID;WALED EL-HOUSSAINE |
分类号 |
B25J9/16;(IPC1-7):G06F19/00 |
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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