Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same
US8560122B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 30, 2010 |
| Grant date | Oct 15, 2013 |
| Priority date | — |
| Expiry date | Dec 10, 2031 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40367
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Disclosed is a teaching and playback method using a redundancy resolution parameter determined in conjunction with a joint structure, for a robot, and a method to apply analytic inverse kinematics to a robot having an elbow with an offset and a computer-readable medium of controlling the same. A reference plane variable with the joint structure is generated and an angle between the reference plane and an arm plane of the robot is used as the redundancy resolution parameter. The robot is taught and its operation is played back in differential inverse kinematics or analytic inverse kinematics using the resolution redundancy parameter.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.