Velocity method of controlling industrial robot actuators
US4594671A · kind A · utility
31Cited by
12References
8Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jan 18, 1983 |
| Grant date | Jun 10, 1986 |
| Priority date | — |
| Expiry date | Jan 18, 2003 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/43203
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.