WO2002062535A3 - Method for controlling an articulated and/or deformable mechanical system and its applications - Google Patents

Method for controlling an articulated and/or deformable mechanical system and its applications Download PDF

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Publication number
WO2002062535A3
WO2002062535A3 PCT/IT2002/000072 IT0200072W WO02062535A3 WO 2002062535 A3 WO2002062535 A3 WO 2002062535A3 IT 0200072 W IT0200072 W IT 0200072W WO 02062535 A3 WO02062535 A3 WO 02062535A3
Authority
WO
WIPO (PCT)
Prior art keywords
virtual model
values
articulated
applications
controlling
Prior art date
Application number
PCT/IT2002/000072
Other languages
French (fr)
Other versions
WO2002062535A2 (en
Inventor
Giovanni Pioggia
Francesco Fabio Di
Luca Marano
Original Assignee
Giovanni Pioggia
Francesco Fabio Di
Luca Marano
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Giovanni Pioggia, Francesco Fabio Di, Luca Marano filed Critical Giovanni Pioggia
Priority to AU2002236201A priority Critical patent/AU2002236201A1/en
Publication of WO2002062535A2 publication Critical patent/WO2002062535A2/en
Publication of WO2002062535A3 publication Critical patent/WO2002062535A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40324—Simulation, modeling of muscle, musculoskeletal dynamical system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40527—Modeling, identification of link parameters

Abstract

Control method for an erticulated and/or deformable machanical system comprising passive subsystems to be animated and/or defomed by means of interconnected actuators linked to said subsystems through junctions and subject to constraints, characterized by the fact of comprising the phases hereinbelow: creation of a virtual model of said system with advanced 3D graphics software; definition in said virtual model of the control variables necessary for driving said system; animation of said virtual model in the desired fashion in order to draw from it the temporal values of said control variables; saving of the values drawn; sending the saved values to the actuator control driver of said system to drive the actuators.
PCT/IT2002/000072 2001-02-07 2002-02-06 Method for controlling an articulated and/or deformable mechanical system and its applications WO2002062535A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2002236201A AU2002236201A1 (en) 2001-02-07 2002-02-06 Method for controlling an articulated and/or deformable mechanical system and its applications

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITPI01A000007 2001-02-07
ITPI20010007 ITPI20010007A1 (en) 2001-02-07 2001-02-07 METHOD FOR THE CONTROL OF AN ARTICULATED AND / OR DEFORMABLE MECHANICAL SYSTEM AND ITS APPLICATIONS

Publications (2)

Publication Number Publication Date
WO2002062535A2 WO2002062535A2 (en) 2002-08-15
WO2002062535A3 true WO2002062535A3 (en) 2004-03-04

Family

ID=11452972

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2002/000072 WO2002062535A2 (en) 2001-02-07 2002-02-06 Method for controlling an articulated and/or deformable mechanical system and its applications

Country Status (3)

Country Link
AU (1) AU2002236201A1 (en)
IT (1) ITPI20010007A1 (en)
WO (1) WO2002062535A2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115056231B (en) * 2022-07-26 2023-12-22 江苏邑文微电子科技有限公司 Motion matching method and device for mechanical arm and animation of semiconductor equipment

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0428164A2 (en) * 1989-11-14 1991-05-22 Sony Corporation Animation producing apparatus
US5495410A (en) * 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
US5511147A (en) * 1994-01-12 1996-04-23 Uti Corporation Graphical interface for robot
US5586224A (en) * 1990-12-25 1996-12-17 Shukyohojin, Kongo Zen Sohonzan Shorinji Robot or numerical control programming method
US5642291A (en) * 1989-12-22 1997-06-24 Amada Company, Limited Of Japan System for creating command and control signals for a complete operating cycle of a robot manipulator device of a sheet metal bending installation by simulating the operating environment
GB2330666A (en) * 1997-10-27 1999-04-28 Honda Motor Co Ltd Off-line teaching method with plurality of robot models
US5933151A (en) * 1997-03-26 1999-08-03 Lucent Technologies Inc. Simulated natural movement of a computer-generated synthesized talking head
EP0938954A2 (en) * 1998-02-25 1999-09-01 Fujitsu Limited Interface apparatus for positioning robot
EP1092513A2 (en) * 1999-10-12 2001-04-18 Fanuc Ltd Graphic display apparatus for robot system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0428164A2 (en) * 1989-11-14 1991-05-22 Sony Corporation Animation producing apparatus
US5642291A (en) * 1989-12-22 1997-06-24 Amada Company, Limited Of Japan System for creating command and control signals for a complete operating cycle of a robot manipulator device of a sheet metal bending installation by simulating the operating environment
US5586224A (en) * 1990-12-25 1996-12-17 Shukyohojin, Kongo Zen Sohonzan Shorinji Robot or numerical control programming method
US5511147A (en) * 1994-01-12 1996-04-23 Uti Corporation Graphical interface for robot
US5495410A (en) * 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
US5933151A (en) * 1997-03-26 1999-08-03 Lucent Technologies Inc. Simulated natural movement of a computer-generated synthesized talking head
GB2330666A (en) * 1997-10-27 1999-04-28 Honda Motor Co Ltd Off-line teaching method with plurality of robot models
EP0938954A2 (en) * 1998-02-25 1999-09-01 Fujitsu Limited Interface apparatus for positioning robot
EP1092513A2 (en) * 1999-10-12 2001-04-18 Fanuc Ltd Graphic display apparatus for robot system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
BOTHE H-H: "Fuzzy-Head: a mechanic human head robot controlled by a fuzzy inference engine", INDUSTRIAL AUTOMATION AND CONTROL, 1995 (I A & C'95)., IEEE/IAS INTERNATIONAL CONFERENCE ON (CAT. NO.95TH8005) HYDERABAD, INDIA 5-7 JAN. 1995, NEW YORK, NY, USA,IEEE, US, 5 January 1995 (1995-01-05), pages 71 - 76, XP010146917, ISBN: 0-7803-2081-6 *

Also Published As

Publication number Publication date
ITPI20010007A1 (en) 2002-08-07
AU2002236201A1 (en) 2002-08-19
WO2002062535A2 (en) 2002-08-15

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