IPC분류정보
| 국가/구분 |
United States(US) Patent
등록
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| 국제특허분류(IPC7판) |
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| 출원번호 |
US-0845991
(1986-03-31)
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발명자
/ 주소 |
- Hayati Samad A. (Pasadena CA)
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| 출원인 / 주소 |
- California Institute of Technology (Pasadena CA 02)
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| 인용정보 |
피인용 횟수 :
43 인용 특허 :
0 |
초록
▼
Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object
Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.
대표청구항
▼
A control system for a plurality n of moveable robot arms 1, 2, 3 . . . n each having joints and joint angles between a moving source and an end effector for each arm, said system cooperating to move an object through a distance x, which object, together with the moveable robot arms, has a total mas
A control system for a plurality n of moveable robot arms 1, 2, 3 . . . n each having joints and joint angles between a moving source and an end effector for each arm, said system cooperating to move an object through a distance x, which object, together with the moveable robot arms, has a total mass, which is resolved into a point mass M having an origin point G in Cartesian space wherein the object can move in a vector subspace spanned by Sv and Sf, which represent the position and force natural constraint subspaces for point G, respectively in that Cartesian space, said system comprising: a plurality of end effectors, one each for each of said robot arms, rigidly connected to the object to be moved, said object characterized as being partitioned into a plurality of portions radiating from the point G and including the portion of the object which is connected to each robot arm, with each robot arm being treated as though it includes a portion of the object radiating from the origin point G to the rigid connection for each arm; and means for applying to said object by each of said robot arms, i, a positive force acting on said object by each of said robot arms in a shared and non-conflicting manner, with each force moving a designated robot arm and its associated portion of the object, said force being defined as Fi=Mx(qi)xd+Vx(qi, qi)+Gx(qi), wherein Mx is the nxn Cartesian mass matrix of the ith arm and its gripped, radiating portion of the object, Vx is the vector of velocity terms in Cartesian space for the velocity of the object, Gx is the Cartesian gravity term of the ith arm and its gripped, radiating portion of the object, the subscript x indicates Cartesian reference rather than individual joints of linkages of the robotic arm, i, qi is a six dimensional vector whose components are the joint angles of robot arm i, xd is the desired acceleration vector of the object in the Sf vector subspace, and the three translational dimensions and the three rotational dimensions, through which the object may move, are defined as the constraint frame for point G of the object.
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