Manipulator
First Claim
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1. A manipulator system having a plurality of articulations, comprising:
- destination coordinate means for giving a destination coordinate value of the position and orientation of the terminal of a manipulator;
present coordinate means for giving a present coordinate value of the position and orientation of the terminal of said manipulator;
finite difference generating means connected to said destination coordinate means and said present coordinate means for generating finite differences between said destination coordinate value and said present coordinate value; and
fuzzy inference means connected to said finite difference generating means for executing a fuzzy inference of said finite differences data for at least one of said plurality of articulations.
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Abstract
A manipulator having a plurality of articulations to be controlled with a given destination value of position and orientation, has a finite difference unit for obtaining a finite difference between the destination value and a present value for each articulation, and a fuzzy inference determination unit for executing a fuzzy inference for each articulation by using the finite difference and determining a command value for each articulation. The position of the manipulator terminal may be obtained on the basis of each articulation angle data, video data from a TV camera, or data from an ultrasonic sensor.
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Citations
16 Claims
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1. A manipulator system having a plurality of articulations, comprising:
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destination coordinate means for giving a destination coordinate value of the position and orientation of the terminal of a manipulator; present coordinate means for giving a present coordinate value of the position and orientation of the terminal of said manipulator; finite difference generating means connected to said destination coordinate means and said present coordinate means for generating finite differences between said destination coordinate value and said present coordinate value; and fuzzy inference means connected to said finite difference generating means for executing a fuzzy inference of said finite differences data for at least one of said plurality of articulations. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A controller for a manipulator having a plurality of articulations, comprising:
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means for giving a finite difference set between a destination value and a present value of the position and orientation of the terminal of said manipulator; and means for determining a command value for each articulation angle by executing a fuzzy inference of said articulations with respect to at least one articulation. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A control method for a manipulator having a plurality of articulations, comprising:
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a step of giving a finite difference set between a destination value and a present value of the position and orientation of the terminal of said manipulator; and a step of executing a fuzzy inference of said articulations with respect to at least one articulation and determining a command value for each articulation angle. - View Dependent Claims (15, 16)
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Specification