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Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage

  • US 5,214,749 A
  • Filed: 06/12/1991
  • Issued: 05/25/1993
  • Est. Priority Date: 06/12/1991
  • Status: Expired due to Fees
First Claim
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1. A robot with a dynamically controlled center of mass comprising:

  • (a) a robot arm including;

    (i) an end effector linkage including an end effector which can move in n dimensions of operation, wherein for each dimension of operation, a first mass is provided which moves in the same direction of movement as the end effector,(ii) a redundant linkage, including a plurality of links and joints, coupled to said end effector, wherein the redundant linkage includes a second mass which can be independently moved in the same or opposite direction of movement of the first mass, and(b) a dynamic controller for moving the robot arm so that for each dimension of movement of the end effector there are at least two degrees of freedom of the robot arm to decouple the center of mass from the end effector.

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