|국가/구분||United States(US) Patent 등록|
|미국특허분류(USC)||700/245; 700/246; 700/249; 700/252; 700/259; 700/5001; 700/260; 700/261; 318/5681; 318/56811; 318/56822; 701/023; 901/015|
|발명자 / 주소|
|출원인 / 주소|
|대리인 / 주소||
|인용정보||피인용 횟수 : 27 인용 특허 : 9|
An object oriented motion system for controlling the movement of a robotic manipulator is presented. The motion system includes a trajectory generator object for producing a stream of machine joint commands. A kinematics object is operable to provide a set of robotic arm specific functions for the trajectory generator object. A servo object provides an interface to the servo system. The stream of machine motor commands are converted by the servo object to a stream of signals that drive the servo system, thereby controlling the trajectory of the robot arm...
1. A motion system for controlling the movement of a robot arm through a servo system, comprising:an object oriented motion system implemented as a plurality of software objects each encapsulating both functional implementation code and associated internal data structures: wherein said plurality of software objects include the following software objects: a trajectory generator object for producing a stream of machine motor commands; a kinematics object operable to provide as et of robot arm specific functions for said trajectory generator objects; and as...