SG10201709216VA - Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a hyper redundant manipulator - Google Patents

Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a hyper redundant manipulator

Info

Publication number
SG10201709216VA
SG10201709216VA SG10201709216VA SG10201709216VA SG10201709216VA SG 10201709216V A SG10201709216V A SG 10201709216VA SG 10201709216V A SG10201709216V A SG 10201709216VA SG 10201709216V A SG10201709216V A SG 10201709216VA SG 10201709216V A SG10201709216V A SG 10201709216VA
Authority
SG
Singapore
Prior art keywords
sections
controlling
redundant manipulator
readable storage
methods
Prior art date
Application number
SG10201709216VA
Inventor
James Kell
Dragos A Axinte
David I Palmer
John Billingham
Original Assignee
Rolls Royce Plc
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 Rolls Royce Plc filed Critical Rolls Royce Plc
Publication of SG10201709216VA publication Critical patent/SG10201709216VA/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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1635—Programme controls characterised by the control loop flexible-arm control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • 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
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1625—Truss-manipulator for snake-like motion
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

ETHODS , APPARATUS , COMPUTER PROGRAMS AND NON -TRANSITORY COMPUTER READABLE STORAGE MEDIUMS FOR CONTROLLING A HYPER REDUNDANT MANIPULATOR 5 Methods of controlling a hyper redundant manipulator, the hyper redundant manipulator including: a plurality of sections comprising a first free end section and a second end section; and a base arranged to receive the plurality of sections in a coiled configuration, the base being coupled to the second end section of the plurality of sections, the method comprising: receiving a trajectory 10 for movement of the plurality of sections; determining an error in position and/or orientation relative to the trajectory for one or more sections of the plurality of sections, the error being caused at least in part by the coiled configuration; and controlling movement of the one or more sections using the determined error to compensate for the error in position and/or orientation of the one or more 15 sections. Fig. 3
SG10201709216VA 2016-11-29 2017-11-08 Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a hyper redundant manipulator SG10201709216VA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB201620117A GB2557179B (en) 2016-11-29 2016-11-29 Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a hyper redundant manipulator

Publications (1)

Publication Number Publication Date
SG10201709216VA true SG10201709216VA (en) 2018-06-28

Family

ID=58073254

Family Applications (1)

Application Number Title Priority Date Filing Date
SG10201709216VA SG10201709216VA (en) 2016-11-29 2017-11-08 Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a hyper redundant manipulator

Country Status (4)

Country Link
US (1) US10611022B2 (en)
EP (1) EP3330048B1 (en)
GB (1) GB2557179B (en)
SG (1) SG10201709216VA (en)

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CN110480649A (en) * 2019-08-09 2019-11-22 上海远通路桥工程有限公司 A kind of quick climbing robot of rope and its climbing method
CN113500602B (en) * 2021-07-23 2023-09-05 鲁东大学 Distributed sampling control for multi-link manipulator system

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Also Published As

Publication number Publication date
EP3330048A1 (en) 2018-06-06
US10611022B2 (en) 2020-04-07
US20180147720A1 (en) 2018-05-31
GB2557179A (en) 2018-06-20
GB2557179B (en) 2020-01-01
GB201620117D0 (en) 2017-01-11
EP3330048B1 (en) 2019-10-09

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