Manipulator and control method thereof
US8606402B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 11, 2011 |
| Grant date | Dec 10, 2013 |
| Priority date | — |
| Expiry date | Feb 5, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40362
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.