Manipulator arm position sensing
US4893254A · kind A · utility
21Cited by
1References
7Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Apr 20, 1988 |
| Grant date | Jan 9, 1990 |
| Priority date | — |
| Expiry date | Apr 20, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40327
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method of controlling the movement of an articulated arm to permit the arm to move an end point thereof more freely and more directly to a preselected target. This smoother operation is obtained by a computer calculating the change in joint angle using an iterative pseudo inverse Jacobian having a damping factor. The damping factor is adjusted for each iteration based on the distance necessary to reach said preselected target.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.