Manipulator control method
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United States of America Patent
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Feb 10, 2004
Grant Date -
Jan 23, 2003
app pub date -
Jul 23, 2002
filing date -
Jul 23, 2001
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A method for controlling a hyper-redundant manipulator including a plurality of links coupled by joints by determining the shape the manipulator takes when the end of the manipulator is moved to a target position, includes modeling each link as an elastic body having a natural length and a suitable modulus of elasticity that enables the elastic body to stretch and contract, simulating the overall shape of the manipulator when the end has been moved to the target position with the joints locked at a freezed angle and the joints are unlocked to return each link to its natural length, and moving the manipulator end to the target position by controlling each joint angle to match the simulation outcome.
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