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 Title: |
US5602968:
Task space angular velocity blending for real-time trajectory generation
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Volpe, Richard A.; La Crescenta, CA
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| Assignee: |
The United States of America as represented by the Administrator of the National Aeronautics and Space Administration, Washington, DC
other patents from UNITED STATES OF AMERICA, NATIONAL AERONAUTICS AND SPACE ADMINISTRATION (597260) (approx. 4,819)
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| Published / Filed: |
1997-02-11
/ 1994-05-02
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| Application Number: |
US1994000238041
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| IPC Code: |
Advanced:
B25J 9/16;
Core:
more...
IPC-7:
G05B 13/00;
G05B 19/42;
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| ECLA Code: |
B25J9/16P3;
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| U.S. Class: |
Current:
700/262;
318/568.18;
700/245;
700/252;
Original:
395/097;
395/080;
395/086;
395/087;
318/568.18;
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| Field of Search: |
395/097,80,86,87
318/568.18
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| Government Interest: |
ORIGIN OF THE INVENTION
The invention described herein was made in the performance of work under a NASA contract, and is subject to the provisions of Public Law 96-517 (35 USC 202) in which the contractor has elected not to retain title.
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| Priority Number: |
| 1994-05-02 |
US1994000238041 |
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| Abstract: |
The invention is embodied in a method of controlling a robot manipulator moving toward a target frame F0 with a target velocity v0 including a linear target velocity ν and an angular target velocity ω0 to smoothly and continuously divert the robot manipulator to a subsequent frame F1 by determining a global transition velocity v1, the global transition velocity including a linear transition velocity ν1 and an angular transition velocity ω1, defining a blend time interval 2.tau.0 within which the global velocity of the robot manipulator is to be changed from a global target velocity v0 to the global transition velocity v1 and dividing the blend time interval 2.tau.0 into discrete time segments δt. During each one of the discrete time segments δt of the blend interval 2.tau.0, a blended global velocity v of the manipulator is computed as a blend of the global target velocity v0 and the global transition velocity v1, the blended global velocity v including a blended angular velocity ω and a blended linear velocity ν, and then, the manipulator is rotated by an incremental rotation corresponding to an integration of the blended angular velocity ω over one discrete time segment δt.
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| Attorney, Agent or Firm: |
Kusmiss, John H. ;
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| Primary / Asst. Examiners: |
Davis, George B.;
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| Maintenance Status: |
E3 Expired Check current status
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| INPADOC Legal Status: |
Show legal status actions
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| Family: |
None
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First Claim:
Show all 23 claims |
What is claimed is:
1. A method of controlling a robot manipulator moving toward a target frame F0 with a target velocity v0 comprising a linear target velocity ν with an angular target velocity ω0 to smoothly and continuously divert said robot manipulator to a subsequent frame F1, said target frame being associated with a target transition time T0 and said subsequent frame being associated with a subsequent transition time T1, said method comprising the steps of:
- determining a global transition velocity v1 necessary to move said manipulator from said target frame F0 to said subsequent frame F1 within said subsequent transition time T1, said global transition velocity comprising a linear transition velocity ν1 and an angular transition velocity ω1 ;
- defining a blend time interval 2.tau.0 within which the global velocity of said robot manipulator is to be changed from a global target velocity v0 to said global transition velocity v1 and dividing said blend time interval 2.tau.0 into discrete time segments δt;
- during each one of said discrete time segments δt of said blend interval 2.tau.0 ;
- (a) computing a blended global velocity v of said manipulator as a blend of said global target velocity v0 and said global transition velocity v1, said blended global velocity v being at least approximately equal to said target global velocity v0 at the beginning of said blend time interval and at least approximately equal to said global transition velocity v1 at the end of said blend time interval, said blended global velocity v comprising a blended angular velocity ω and a blended linear velocity ν, and
- (b) rotating said manipulator by an incremental rotation corresponding to an integration of said blended angular velocity ω over one discrete time segment δt.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 5 U.S. patent(s) that reference this one
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| Foreign References: |
None
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| Other Abstract Info: |
DERABS G1997-132127
DERABS G1997-132127
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| Other References: |
Angeles et al, "Trajectory planning in Robotics Continuous-Path Applications", IEEE Journal of Robotics and Automation, vol. 4, No. 4, Aug. 1988.
Yeung et al, "Efficient Parallel Algorithms and VLSI Architectures of Manipulator Jacobian Computation", IEEE Transactions on Systems, Man, and Sybernetics, vol. 19, No. 5, Sep./Oct. 1989.
M. Brady and Others (editors). Robot Motion: Planning and Control MIT Oressm Cambridge, MA, 1982.
J. Canny. Collision Detection for Moving Polyhedra. IEEE Transactions on Pattern Analysis and Machine Intelligence, 8 (2), Mar. 1986.
J. Craig. Introduction to Robotics: Mechanics and Control. Addison-Wesley, Reading, Massachusetts, 1986.
H. Goldstein. Classical Mechanics. Addison-Wesley, Reading, Mass. 1980.
C. Lin and P. Chang. Formulation and Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots. IEEE Transactions on Automatic Control, 28(12):1066-1073, 1983.
(9 pages)
J. Lloyd and V. Hayward. Real-Time Trajectory Generation Using Blend Functions In IEEE International Conference on Robotics and Automation, Sacramento, California, Apr. 1991.
M. Mujtaba. Discussion of Trajectory Calculation Methods. Stanford University, Artificial Intelligence Laboratory, AIM 285.4, 1977.
R. Paul. Robot Manipulators: Mathematics, Programming and Control MIT Press, Cambridge, MA, 1981.
R. Paul. Manipulator Cartesian Path Control, pp. 245-263. MIT Press Cambridge, Mass., 1982.
R. Paul and H. Zhang. Robot Motion Trajectory Specification and Generation. In Second International Symposium on Robotics Research, Kyoto, Japan, Aug. 1984.
R. Rosenberg and D. Karnopp. Introduction to Physical System Dynamics. McGraw-Hill, New York, 1983.
H. Seraji and R. Colbaugh. Improved Configuration Control for Redundant Robots. Journal of Robotics Systems, 7(6), 1990.
R. Taylor. Planning and Execution of Straight Line Manipulator Trajectories, pp. 265-286. MIT Press, Cambridge, Mass., 1982.
S. Thompson and R. Patel. Formulation of Joint Trajectories for Industrial Robots Using B-Splines. IEEE Transactions on Industrial Electronics, 34(2):192-199, 1987.
(8 pages)
D. Whitney. Resolved Motion Rate Control of Manipulators and Human Protheses. IEEE Transactions on Man-Machine Systems, 10(2):49-53, Jun. 1969.
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