Manipulator
AssigneeHitachi, Ltd.
InventorsShinichi Takarada, Satoshi Mohri
Life of this patent
Estimating the term…
Abstract
A manipulator having a plurality of articulations to be controlled with a given destination value of position and orientation, has a finite difference unit for obtaining a finite difference between the destination value and a present value for each articulation, and a fuzzy inference determination unit for executing a fuzzy inference for each articulation by using the finite difference and determining a command value for each articulation. The position of the manipulator terminal may be obtained on the basis of each articulation angle data, video data from a TV camera, or data from an ultrasonic sensor.
Claims16
A manipulator system having a plurality of articulations, comprising:
- destination coordinate means for giving a destination coordinate value of the position and orientation of the terminal of a manipulator;
- present coordinate means for giving a present coordinate value of the position and orientation of the terminal of said manipulator;
- finite difference generating means connected to said destination coordinate means and said present coordinate means for generating finite differences between said destination coordinate value and said present coordinate value;
- and
- fuzzy inference means connected to said finite difference generating means for executing a fuzzy inference of said finite differences data for at least one of said plurality of articulations.
A controller for a manipulator having a plurality of articulations, comprising:
- means for giving a finite difference set between a destination value and a present value of the position and orientation of the terminal of said manipulator;
- and
- means for determining a command value for each articulation angle by executing a fuzzy inference of said articulations with respect to at least one articulation.
A control method for a manipulator having a plurality of articulations, comprising:
- a step of giving a finite difference set between a destination value and a present value of the position and orientation of the terminal of said manipulator;
- and
- a step of executing a fuzzy inference of said articulations with respect to at least one articulation and determining a command value for each articulation angle.
Dependencies are inferred from the claim text.