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Mobile dexterous siren degree of freedom robot arm with real-time control system

IPC분류정보
국가/구분 United States(US) Patent 등록
국제특허분류(IPC7판)
  • G05B-019/04
  • G05B-019/18
출원번호 US-0431361 (1995-04-28)
발명자 / 주소
  • Seraji Homayoun
  • Lim David
  • Lee Thomas S.
출원인 / 주소
  • California Institute of Technology
대리인 / 주소
    Michaelson & Wallace
인용정보 피인용 횟수 : 188  인용 특허 : 3

초록

The present invention is a mobile redundant dexterous manipulator with a seven-degree-of-freedom robot arm mounted on a 1 degree-of-freedom mobile platform with a six-degree-of freedom end effector including a real-time control system with multiple modes of operation. The manipulator-plus-platform s

대표청구항

[ What is claimed is:] [1.] A method of controlling a robot arm, said robot arm comprising a base with a central axis, n joints, joint angle sensor means connected to each of said joints, joint servo loop means connected to each of said joints, and two ends comprising a mobile platform end having tw

이 특허에 인용된 특허 (3)

  1. Seraji Homayoun (La Crescenta CA), Configuration control of seven degree of freedom arms.
  2. Seraji Homayoun (La Crescenta CA), Method and apparatus for configuration control of redundant robots.
  3. Seraji Homayoun (La Crescenta CA), On-line method and apparatus for coordinated mobility and manipulation of mobile robots.

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