发明名称 |
Recursive methods for world-to-joint transformation for a robot manipulator |
摘要 |
A method for controlling an articulated robot manipulator with an offset wrist made with only rotary joints. The method relates to transforming a given position and orientation of the robot tool or end effector in Cartesian space to the equivalent joint angles of the robot. Commands generated from the joint angles are sent to actuators connected to the rotary joints, where the desired motion of the robot tool is generated. This method of transforming a point in Cartesian space to joint angles is accomplished by providing a cross-product and dot-product recursive methods that employ the robot geometry to determine the location of the the end effector, such that the computational complexity of the techniques allows real-time computations for current state of the art microprocessors.
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申请公布号 |
US4680519(A) |
申请公布日期 |
1987.07.14 |
申请号 |
US19850778830 |
申请日期 |
1985.09.23 |
申请人 |
GENERAL ELECTRIC CO. |
发明人 |
CHAND, SUJEET;SADRE, AHMAD |
分类号 |
B25J9/18;G05B19/408;(IPC1-7):G05B19/18 |
主分类号 |
B25J9/18 |
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