Recursive methods for world-to-joint transformation for a robot manipulator
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United States of America Patent
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Jul 14, 1987
Grant Date -
N/A
app pub date -
Sep 23, 1985
filing date -
Sep 23, 1985
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A method for controlling an articulated robot manipulator with an offset wrist made with only rotary joints. The method relates to transforming a given position and orientation of the robot tool or end effector in Cartesian space to the equivalent joint angles of the robot. Commands generated from the joint angles are sent to actuators connected to the rotary joints, where the desired motion of the robot tool is generated. This method of transforming a point in Cartesian space to joint angles is accomplished by providing a cross-product and dot-product recursive methods that employ the robot geometry to determine the location of the the end effector, such that the computational complexity of the techniques allows real-time computations for current state of the art microprocessors.
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