System for determining manipulator coordinates
US5293461A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Nov 20, 1991 |
| Grant date | Mar 8, 1994 |
| Priority date | — |
| Expiry date | Nov 20, 2011 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1607
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An inverse kinematics method of determining joint variables for a manipulator is obtained by forming a model by modifying offset values of a selected arm segments of the manipulator to define a model for which it is possible to derive closed-form inverse kinematics equations for solving the joint variables for said model, developing from said closed-form inverse kinematics equations a system of not more than 3 non-linear equations in not more than 3 unknowns which when solved give an inverse kinematics solution for the model, solving the system of at most 3 non-linear equations to provide the inverse kinematic solution for said manipulator to determine its joint variables.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.