Method of controlling position and attitude of working robot and its manipulator and apparatus thereof

• US 5,542,028 A
• Filed: 04/22/1994
• Issued: 07/30/1996
• Est. Priority Date: 10/29/1991
• Status: Expired due to Fees

• Current Assignee: Tsubakimoto Chain Company
• Original Assignee: Tsubakimoto Chain Company
• Inventors: Minami, Mamoru
• Primary Examiner(s): Bayerl, Raymond J.
• Assistant Examiner(s): KATBAB, ABDOLLAH
• Application Number:
  US08/231,545
• Time in Patent Office: 830 Days
• Field of Search: 395/86, 395/97, 180/168, 318/568.12, 901/1
• US Class Current: 700/251
• CPC Class Codes: B25J 9/1607 Calculation of inertia, jacobian matrixes and inverses
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: G05B 2219/39402 Transfer matrix for moving object and robot to absolute space, motion independent

Abstract

By a first homogeneous transformation matrix representing a position and orientation of a moving body in an absolute space, and a second homogenous transformation matrix representing a position and attitude of a manipulator in its operating space, position and orientation information of the moving body in the absolute space, and position and attitude information of the manipulator in its operating space are represented by a same representing method, and furthermore, the position and attitude of the manipulator are controlled on the basis of information of a third homogeneous transformation matrix representing the position and attitude of the manipulator including the position and orientation information of the moving body in the absolute space obtained on the basis of the first and second homogeneous transformation matrices. Since information of the third homogenous transformation matrix includes the position and orientation information of the moving body in the absolute space, the manipulator can be controlled at a desired position and attitude in the absolute space irrespective of a condition of traveling on standstill of the moving body, thus it is possible to control the position and attitude of the manipulator for operation while running the moving body.

Claims

1. A method of controlling a position and orientation of a manipulator which is mounted on a moving body comprising an autonomously-traveling truck and which conducts various operations, comprising steps of:

obtaining a first homogeneous transformation matrix representing a position and orientation of said autonomously-traveling truck in an absolute space;

obtaining a second homogeneous transformation matrix representing a position and orientation of said manipulator in its operating space wherein said operating space travels along with said truck;

obtaining a third homogeneous transformation matrix representing a position and orientation of said manipulator derived from position and orientation information of said autonomously-traveling truck in an absolute space on the basis of said first and second homogeneous transformation matrices; and

controlling a position and orientation of said manipulator in an absolute space using information of said third homogeneous transformation matrix during a time when said autonomously-traveling truck is moving, to obtain a target orbit of said manipulator in preparation for work while said truck is traveling.

2. A controlling apparatus for a position and orientation of a manipulator which is mounted on a moving body comprising an autonomously-traveling truck and which conducts various operations, comprising:

first matrix means for obtaining a first homogeneous transformation matrix representing a position and orientation of said autonomously-traveling truck in an absolute space;

second matrix means for obtaining a second homogeneous transformation matrix representing a position and orientation of said manipulator in its operating space wherein said operating space travels along with said truck;

third matrix means for obtaining a third homogeneous transformation matrix representing a position and orientation of said manipulator derived from position and orientation information of said autonomously-traveling truck in an absolute space on the basis of said first and second homogeneous transformation matrices obtained by said first and second matrix means; and

controlling means for controlling a position and orientation of said manipulator in an absolute space using information of said third homogeneous transformation matrix obtained by said third matrix means during a time when said autonomously-traveling truck is moving, to achieve a target orbit of said manipulator in preparation for work while said truck is traveling.

3. A working robot, comprising:

a moving body comprising an autonomously-traveling truck;

a manipulator which is mounted on said autonomously-traveling truck and which conducts various operations;

a controlling apparatus for controlling a position and orientation of said manipulator, having;

first matrix means for obtaining a first homogeneous transformation matrix representing a position and orientation of said autonomously-traveling truck in an absolute space;

second matrix means for obtaining a second homogeneous transformation matrix representing a position and orientation of said manipulator in its operating space wherein said operating space travels along with said truck;

third matrix means for obtaining a third homogeneous transformation matrix representing a position and orientation of said manipulator, derived from position and orientation information of the autonomously-traveling truck in an absolute space on the basis of said first and second homogeneous transformation matrices obtained by said first and second matrix means; and

controlling means for controlling a position and orientation of said manipulator in an absolute space using information of said third homogeneous transformation matrix obtained by said third matrix means during a time when said autonomously-traveling truck is moving, to achieve a target orbit of said manipulator in preparation for work while said truck is traveling.