Positioning data calculating procedure, positioning data calculating apparatus and articulated manipulator
US6978193B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 24, 2003 |
| Grant date | Dec 20, 2005 |
| Priority date | — |
| Expiry date | Dec 27, 2023 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39018
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A positioning data calculating procedure calculates analytically relative rotation angles for the links arranged in series to form an articulated manipulator to locate an object in a desired orientation at a desired position. Coordinate expressions including an x-coordinate expression representing the x-coordinate of a triaxial intersection point, a yz addition coordinate expression representing the sum of the y- and the z-coordinate of the triaxial intersection point, and a yz subtraction coordinate expression representing the remainder of subtraction of the z-coordinate from the y-coordinate of the triaxial intersection point, and including first to third rotation angles corresponding to rotation angles through which the second link is turned relative to the first link, through which the third link is turned relative to the second link, and through which the fourth link is turned relative to the third link as variables are solved. The first to the third rotation angles can easily and analytically be determined by using the yz addition coordinate expression and the yz subtraction coordinate expression. Fourth to sixth angles can analytically be determined on the basis of the first…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.