Motion controller for redundant or nonredundant linkages
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United States of America Patent
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-
Dec 4, 1990
Issued Date -
N/A
app pub date -
Jun 16, 1988
filing date -
Feb 18, 1986
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A linkage mechanism, such as an industrial robot, comprises an electronic motion controller and a set of self-driven joints. A controller receives a series of end effector positions from memory or from a host control system which define a routine for the mechanism to execute in relation to a predetermined reference frame such as cartesian coordinates. Angular values for the joints are computed in real time which follow the predetermined reference frame values in a manner which avoids the problems of singularities and which efficiently accommodates kinematic redundancy. A corresponding drive signal is generated for each joint.
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