Manipulator control method
AssigneeCommunications Research Laboratory, Independent Administrative Institution
InventorShinichi Kimura
Life of this patent
Estimating the term…
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.
Claims16
A method for controlling a hyper-redundant manipulator comprising a plurality of links coupled by joints, by determining a shape the manipulator forms from base to end when the end is moved to a target position, the method comprising:
- modeling each link as an elastic body having a natural length and an appropriate modulus of elasticity that enables the elastic body to stretch and contract just in a linkage direction;
- simulating an overall shape of the manipulator when the end has been moved to a 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.
Dependencies are inferred from the claim text.