Mobile dexterous siren degree of freedom robot arm with real-time control system
US5737500A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Apr 28, 1995 |
| Grant date | Apr 7, 1998 |
| Priority date | — |
| Expiry date | Apr 28, 2015 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40379
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present invention is a mobile redundant dexterous manipulator with a seven-degree-of-freedom robot arm mounted on a 1 degree-of-freedom mobile platform with a six-degree-of freedom end effector including a real-time control system with multiple modes of operation. The manipulator-plus-platform system has two degrees-of-redundancy for the task of hand placement and orientation. The redundancy resolution is achieved by accomplishing two additional tasks using a configuration control technique. This mobile manipulator with control system allows a choice of arm angle control or collision avoidance for the seventh task, and platform placement or elbow angle control for the eighth task. In addition, joint limit avoidance task is automatically invoked when any of the joints approach their limits. The robot is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.