发明名称 |
Industrial robot with controller |
摘要 |
A controller retrieves from memory a series of discrete end effector positions consisting of location and orientation of the end effector. Joint angle values are computed in real time corresponding to intermediate points along the path in a manner which provides smooth end effector motion, avoids the problems of singularities and efficiently accommodates kinematic redundancy. In particular, end effector reorientation between successive goal points is smoothly accomplished by rotating the end effector about the eigenvector of the two successive end effector orientations.
|
申请公布号 |
US4937759(A) |
申请公布日期 |
1990.06.26 |
申请号 |
US19880207311 |
申请日期 |
1988.06.15 |
申请人 |
ROBOTICS RESEARCH CORPORATION |
发明人 |
VOLD, HAVARD I. |
分类号 |
B25J9/16;B25J9/18;G05B19/4061;G05B19/414 |
主分类号 |
B25J9/16 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|