GB2301907A - Manipulator controller - Google Patents

Manipulator controller

Info

Publication number
GB2301907A
GB2301907A GB9617722A GB9617722A GB2301907A GB 2301907 A GB2301907 A GB 2301907A GB 9617722 A GB9617722 A GB 9617722A GB 9617722 A GB9617722 A GB 9617722A GB 2301907 A GB2301907 A GB 2301907A
Authority
GB
United Kingdom
Prior art keywords
manipulator
end portion
path
elements
joint
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
GB9617722A
Other versions
GB9617722D0 (en
Inventor
Christopher Paul Bamforth
John David Taylor
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
UK ROBOTICS Ltd
Original Assignee
UK ROBOTICS Ltd
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 UK ROBOTICS Ltd filed Critical UK ROBOTICS Ltd
Publication of GB9617722D0 publication Critical patent/GB9617722D0/en
Publication of GB2301907A publication Critical patent/GB2301907A/en
Withdrawn legal-status Critical Current

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
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • 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
    • G05B2219/40327—Calculation, inverse kinematics solution using damped least squares method
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43201—Limit speed to allowable speed for all axis

Abstract

A controller for a manipulator having a series of elements linked by a plurality of joints each controlled by a respective actuator. The elements are connected in series between a base and an end portion of the manipulator such that movements of the end portion relative to the base in cartesian space are related to relative movements of the interconnected elements in joint space by a predetermined inverse kinematic relationship. A path in cartesian space which it is intended the end portion of the manipulator to follow is defined for example by an operator moving an input device so as to simulate the desired movement of the manipulator. Joint actuator control signals are generated to cause the end portion of the manipulator to follow that path. When the manipulator approaches a kinematically restricted configuration in which the freedom of movement of the end portion is reduced by at least one degree of freedom, the actuator control signals are calculated using a damped pseudoinverse solution to the inverse kinematic relationship. The pseudoinverse solution may be selected to minimise the sum of the magnitudes of a first function representing the cartesian error between a position adopted by the manipulator and the desired position represented by the input path, and a second function representing a weighted joint velocity vector.
GB9617722A 1994-02-25 1995-02-24 Manipulator controller Withdrawn GB2301907A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9403644A GB9403644D0 (en) 1994-02-25 1994-02-25 Manipulator controller
PCT/GB1995/000397 WO1995023054A1 (en) 1994-02-25 1995-02-24 Manipulator controller

Publications (2)

Publication Number Publication Date
GB9617722D0 GB9617722D0 (en) 1996-10-02
GB2301907A true GB2301907A (en) 1996-12-18

Family

ID=10750915

Family Applications (2)

Application Number Title Priority Date Filing Date
GB9403644A Pending GB9403644D0 (en) 1994-02-25 1994-02-25 Manipulator controller
GB9617722A Withdrawn GB2301907A (en) 1994-02-25 1995-02-24 Manipulator controller

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GB9403644A Pending GB9403644D0 (en) 1994-02-25 1994-02-25 Manipulator controller

Country Status (3)

Country Link
AU (1) AU1715495A (en)
GB (2) GB9403644D0 (en)
WO (1) WO1995023054A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2364575A (en) * 2000-07-07 2002-01-30 Robotic Technology Systems Plc Generating positioning instructions for apparatus to process an object

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US6128556A (en) * 1998-03-16 2000-10-03 Honeywell International Inc. CMG control based on angular momentum to control satellite attitude
US6131056A (en) * 1998-03-16 2000-10-10 Honeywell International Inc. Continuous attitude control that avoids CMG array singularities
US6047927A (en) * 1998-03-16 2000-04-11 Honeywell Inc. Escaping singularities in a satellite attitude control
DE19853765C1 (en) * 1998-11-21 2000-07-13 Forschungszentrum Juelich Gmbh Method and device for determining regularity
DE102007059481A1 (en) * 2007-12-11 2009-06-18 Kuka Roboter Gmbh Method and device for range monitoring of a manipulator
FR2960074B1 (en) * 2010-05-14 2012-06-15 Staubli Sa Ets METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL
AU2011262377B2 (en) 2010-06-03 2014-08-07 Delaval Holding Ab A milking robot, and a milking arrangement
US9193573B1 (en) * 2012-05-11 2015-11-24 The Boeing Company Process for measuring and controlling extension of scissor linkage systems
US9875335B2 (en) 2012-10-08 2018-01-23 Honda Motor Co., Ltd. Metrics for description of human capability in execution of operational tasks
CN103268067B (en) * 2013-05-03 2016-02-10 哈尔滨工业大学 A kind of satellite based on intending hypercomplex number and plan hypercomplex number kinematical equation points to tracking and controlling method
US10216892B2 (en) 2013-10-01 2019-02-26 Honda Motor Co., Ltd. System and method for interactive vehicle design utilizing performance simulation and prediction in execution of tasks
GB2588629B (en) * 2019-10-29 2024-01-03 Cmr Surgical Ltd Robotic joint control
EP3845346A1 (en) * 2019-12-31 2021-07-07 Fundación Tecnalia Research & Innovation Method, system and computer program product for controlling the teleoperation of a robotic arm
CN113263496B (en) * 2021-04-01 2022-09-23 北京无线电测量研究所 Method for optimizing path of six-degree-of-freedom mechanical arm and computer equipment
CN114131612B (en) * 2021-12-20 2024-01-30 中国科学院长春光学精密机械与物理研究所 Redundant mechanical arm real-time look-ahead track planning method based on NURBS curve interpolation algorithm

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0338705A2 (en) * 1988-04-20 1989-10-25 The University Of British Columbia Robot articulated arm control

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0338705A2 (en) * 1988-04-20 1989-10-25 The University Of British Columbia Robot articulated arm control

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
IEEE Transactions on Systems,Man & Cybernetics 1986, vol SMC-16 no.1,p92-101, C.W.Wampler *
Proceedings of the 1993 IEEE International Conference on Robotics and and Automation,2-6 May, p978 *
Proceedings of the International Conference on Robotics and Automation,12-14 May 1992, PP 434-441 *
Transactions of the ASME,Journal of Dynamic Systems,Measurement & Control,1986 vol 108 no.3 p163-171 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2364575A (en) * 2000-07-07 2002-01-30 Robotic Technology Systems Plc Generating positioning instructions for apparatus to process an object
GB2364575B (en) * 2000-07-07 2004-10-27 Robotic Technology Systems Plc Processing an object

Also Published As

Publication number Publication date
AU1715495A (en) 1995-09-11
GB9403644D0 (en) 1994-04-13
WO1995023054A1 (en) 1995-08-31
GB9617722D0 (en) 1996-10-02

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Legal Events

Date Code Title Description
WAP Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1)