Process for the control of active moving body relative to a local passive environment with the aid of local proximetric transducers
US4747458A · kind A · utility
Assignees
Inventors
Key dates
| Filing date | Nov 24, 1986 |
| Grant date | May 31, 1988 |
| Priority date | — |
| Expiry date | Nov 24, 2006 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0242
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The object of the present invention is to greatly simplify the final control of a sensitive, active robot moving in a passive environment. It consists of equipping the robot with a plurality of directional proximetric transducers C.sub.i, to which are allocated, for a given operating mode, virtual elementary actions making it possible to determine a control vector of the different actuators (4.1-4.2) responsible for the robot movements. The virtual elementary action allocated to each sensor is weighted by a virtual mass or coefficient m.sub.i. The center of gravity of the virtual masses m.sub.i preferably coincides with the control frame of the robot. The invention is more particularly usable in robotized remote manipulation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.