Manipulator and path generation method thereof
US9043030B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 11, 2012 |
| Grant date | May 26, 2015 |
| Priority date | — |
| Expiry date | Nov 15, 2032 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/46
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.