Manipulator and control method
US4928047A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 20, 1989 |
| Grant date | May 22, 1990 |
| Priority date | — |
| Expiry date | Mar 20, 2009 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S700/90
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A multiple-degree-of-freedom manipulator having a plurality of joints is improved by providing some of said plurality of joints being provided with holding brakes, and providing any remaining joints with actuators which generate angular acceleration or linear acceleration in the joints provided with holding brakes while the holding brakes of the joints are released. A method of controlling the multiple-degree-of-freedom manipulators provided with one or more joints provided with holding brakes and one or more joints provided with actuators, comprises the steps of controlling the angular displacement or linear displacement of joints which have no actuators by the torque or force of joints which have actuators by means of the dynamic coupling between joints while the holding brakes are released, and controlling the angular displacement or linear displacement of joints which have actuators by means of the actuators while the brakes are engaged.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.