Obstacle avoidance for redundant robots using configuration control
US5150026A · kind A · utility
21Cited by
10References
1Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Nov 19, 1990 |
| Grant date | Sep 22, 1992 |
| Priority date | — |
| Expiry date | Nov 19, 2010 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40362
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A redundant robot control scheme is provided for avoiding obstacles in a workspace during motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance therebetween is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.