Manipulator control method
US6690999B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 23, 2002 |
| Grant date | Feb 10, 2004 |
| Priority date | — |
| Expiry date | Jul 24, 2022 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40527
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for controlling a hyper-redundant manipulator including a plurality of links coupled by joints by determining the shape the manipulator takes when the end of the manipulator is moved to a target position, includes modeling each link as an elastic body having a natural length and a suitable modulus of elasticity that enables the elastic body to stretch and contract, simulating the overall shape of the manipulator when the end has been moved to the target position with the joints locked at a freezed angle and the joints are unlocked to return each link to its natural length, and moving the manipulator end to the target position by controlling each joint angle to match the simulation outcome.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.