Industrial robot with controller
First Claim
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1. A method for end effector reorientation between successive goal positions comprising the steps of:
- computing an Eigenvector about which said end effector can be rotated from a current goal position to attain a next goal position;
computing an Eigenvalue; and
rotating said end effector about said Eigenvector by an amount prescribed by said Eigenvalue.
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Abstract
A controller retrieves from memory a series of discrete end effector positions consisting of location and orientation of the end effector. Joint angle values are computed in real time corresponding to intermediate points along the path in a manner which provides smooth end effector motion, avoids the problems of singularities and efficiently accommodates kinematic redundancy. In particular, end effector reorientation between successive goal points is smoothly accomplished by rotating the end effector about the eigenvector of the two successive end effector orientations.
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Citations
2 Claims
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1. A method for end effector reorientation between successive goal positions comprising the steps of:
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computing an Eigenvector about which said end effector can be rotated from a current goal position to attain a next goal position; computing an Eigenvalue; and rotating said end effector about said Eigenvector by an amount prescribed by said Eigenvalue. - View Dependent Claims (2)
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Specification
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Current AssigneeRobotic Research LLC
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Original AssigneeRobotic Research LLC
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InventorsVold, Havard I.
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Primary Examiner(s)NOT, DEFINED
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Application NumberUS07/207,311Time in Patent Office741 DaysField of Search364/513, 364/474.19, 364/167.01, 318/568, 901/15US Class Current700/262CPC Class CodesB25J 9/1602 characterised by the contro...B25J 9/1643 redundant controlG05B 19/4061 Avoiding collision or forbi...G05B 19/4141 characterised by a controll...G05B 2219/33172 MultibusG05B 2219/40333 Singularity, at least one m...G05B 2219/40362 Elbow high or low, avoid ob...
