Method and apparatus for configuration control of redundant robots
US4999553A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Dec 28, 1989 |
| Grant date | Mar 12, 1991 |
| Priority date | — |
| Expiry date | Dec 28, 2009 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40352
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motio…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.