Method for controlling a manipulator relative to a moving workpiece
US5523663A · kind A · utility
44Cited by
8References
4Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | May 7, 1993 |
| Grant date | Jun 4, 1996 |
| Priority date | — |
| Expiry date | May 7, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40613
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for real-time three-dimensional control of position and attitude of an end effector of a manipulator relative to a moving workpiece. Angles of revolute joints of the manipulator are controlled by harmonizing a first control methodology, wherein the z-axis coordinate of the end effector and the attitude of the end effector are controlled based on input target values for the position and attitude of the end effector, with a second control methodology, wherein the x-axis and y-axis coordinates of the end effector are controlled responsive to image data captured by a camera mounted to the manipulator.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.