SE525399C2 - Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator - Google Patents
Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensatorInfo
- Publication number
- SE525399C2 SE525399C2 SE0203180A SE0203180A SE525399C2 SE 525399 C2 SE525399 C2 SE 525399C2 SE 0203180 A SE0203180 A SE 0203180A SE 0203180 A SE0203180 A SE 0203180A SE 525399 C2 SE525399 C2 SE 525399C2
- Authority
- SE
- Sweden
- Prior art keywords
- telerobotics
- applications
- scheme based
- centre point
- robot motion
- Prior art date
Links
- 210000000707 wrist Anatomy 0.000 title claims description 3
- 238000000034 method Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 abstract description 4
- 230000009466 transformation Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 3
- 241001125929 Trisopterus luscus Species 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 1
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
- B25J9/1643—Programme controls characterised by the control loop redundant 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
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
525 399 3 PATENTKRAV l. Metod för eliminering av positionsfel intill och på inre kinematiska singularitetspunkter för robothandled, kännetecknad av AC, där A betecknar omvandling av önskat värde från Kartesiska koordinater till led-koordinater, genom användning av en invers kinematisk räknare följt av en limiter som begränsar rörelsen hos robotens leder med hänsyn till kinematiska och dynamiska gränser av hela robotsystemet inklusive dess omgivande miljö, innefattande tex. maximal ledvinkelposition, hastighet, acceleration och moment. Denna limiter kan ytterligare minska eller utjämna begränsningsvärden i närområden av singulariteter, för utökad stabilitet vid reglering. 525 399 3 PATENT REQUIREMENTS 1. Method for eliminating position errors adjacent to and on internal kinematic singularity points for robot wrists, characterized by AC, where A denotes conversion of desired value from Cartesian coordinates to joint coordinates, by using an inverse kinematic counter followed by a limiter which limits the movement of the robot's joints with regard to kinematic and dynamic boundaries of the entire robot system, including its surrounding environment, including e.g. maximum hinge angle position, speed, acceleration and torque. This limiter can further reduce or equalize limit values in the vicinity of singularities, for increased stability when regulating.
Dessa ledvinkelpositioner transfonneras till Kartesiska koordinater och orienteringskomponenten av den resulterande 4x4 homogena transforrnationsmatrisen sammanfogas med positionskomponenten av den nya 4x4 homogena transformationsmatrisen för skapandet av en ny 4x4 homogen transforrnationsmatris genom C, som efter omvandling från Kaitesiska koordinater till led-koordinater genom ytterligare en inverskinematisk beräkning i kedjan slutligen ger önskade ledvinkelpositioner. 2. Metod i enlighet med krav 1, men baserad på ABC, där B är en konfigurationshanterare som automatiskt ändrar den kinematiska konfigurationen för A, ifall övergång till ny konfiguration, baserad på information från A, är oundviklig, d.v.s ifall te.x. maximal hastighet, acceleration och moment, ej omöjliggör övergång. Konfigurationen bestäms av B, och förmedlas till den andra invers kinematiska räknaren i kedjan, så att samma konfiguration används i hela systemet.These articulation positions are transformed into Cartesian coordinates and the orientation component of the resulting 4x4 homogeneous transformation matrix is merged with the position component of the new 4x4 homogeneous transformation matrix to create a new 4x4 homogeneous transformation matrix through C, which after conversion into additional the chain finally provides the desired articulation positions. Method according to claim 1, but based on ABC, where B is a configuration manager that automatically changes the kinematic configuration of A, if transition to new configuration, based on information from A, is unavoidable, i.e. if e.g. maximum speed, acceleration and torque, does not make transition impossible. The configuration is determined by B, and is transmitted to the other inverse kinematic counter in the chain, so that the same configuration is used throughout the system.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0203180A SE525399C2 (en) | 2002-10-30 | 2002-10-30 | Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0203180A SE525399C2 (en) | 2002-10-30 | 2002-10-30 | Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator |
Publications (3)
Publication Number | Publication Date |
---|---|
SE0203180D0 SE0203180D0 (en) | 2002-10-30 |
SE0203180L SE0203180L (en) | 2004-05-01 |
SE525399C2 true SE525399C2 (en) | 2005-02-15 |
Family
ID=20289391
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE0203180A SE525399C2 (en) | 2002-10-30 | 2002-10-30 | Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator |
Country Status (1)
Country | Link |
---|---|
SE (1) | SE525399C2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017015599A1 (en) * | 2015-07-23 | 2017-01-26 | Sri International | Robotic arm and robotic surgical system |
WO2018214156A1 (en) * | 2017-05-26 | 2018-11-29 | 深圳配天智能技术研究院有限公司 | Method of correcting locomotion control command of robot, and related apparatus for same |
US10299883B2 (en) | 2013-03-15 | 2019-05-28 | Sri International | Hyperdexterous surgical system |
-
2002
- 2002-10-30 SE SE0203180A patent/SE525399C2/en not_active IP Right Cessation
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10299883B2 (en) | 2013-03-15 | 2019-05-28 | Sri International | Hyperdexterous surgical system |
US10376337B2 (en) | 2013-03-15 | 2019-08-13 | Sri International | Hyperdexterous surgical system |
US10383699B2 (en) | 2013-03-15 | 2019-08-20 | Sri International | Hyperdexterous surgical system |
WO2017015599A1 (en) * | 2015-07-23 | 2017-01-26 | Sri International | Robotic arm and robotic surgical system |
US10828115B2 (en) | 2015-07-23 | 2020-11-10 | Sri International | Robotic arm and robotic surgical system |
WO2018214156A1 (en) * | 2017-05-26 | 2018-11-29 | 深圳配天智能技术研究院有限公司 | Method of correcting locomotion control command of robot, and related apparatus for same |
CN109311163A (en) * | 2017-05-26 | 2019-02-05 | 深圳配天智能技术研究院有限公司 | Correct the method and its relevant device of the motion control commands of robot |
CN109311163B (en) * | 2017-05-26 | 2022-02-15 | 深圳配天智能技术研究院有限公司 | Method for correcting motion control command of robot and related equipment thereof |
Also Published As
Publication number | Publication date |
---|---|
SE0203180D0 (en) | 2002-10-30 |
SE0203180L (en) | 2004-05-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107966907B (en) | Obstacle avoidance solution applied to redundant manipulator | |
CN105583822B (en) | Redundancy angle configurations for articulated arm robots, based on event | |
JP4896276B2 (en) | ROBOT, ROBOT CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM | |
CN108568814B (en) | Robot and robot control method | |
US7405531B2 (en) | Torque-position transformer for task control of position controlled robots | |
Yang et al. | Motion trajectory-based transportation control for 3-D boom cranes: Analysis, design, and experiments | |
US20060195228A1 (en) | Robot locus control method and apparatus and program of robot locus control method | |
Xu et al. | Dynamic neural networks based adaptive admittance control for redundant manipulators with model uncertainties | |
US10239207B2 (en) | Control of a robot | |
EP2033746A1 (en) | Articulated robot and its control program | |
WO2015109976A1 (en) | Concrete pump truck, and boom control method and control device | |
CN111993414B (en) | Mechanical arm multi-joint linkage control method | |
US8620474B2 (en) | Control device and method for a manipulator | |
CN107378952B (en) | A kind of solution that redundancy mechanical arm end effector posture is kept | |
CN110561425B (en) | Rope-driven flexible robot force and position hybrid control method and system | |
CN108098777B (en) | Redundant manipulator moment layer repetitive motion control method | |
CN111309002A (en) | Wheel type mobile robot obstacle avoidance method and system based on vector | |
SE525399C2 (en) | Eliminating position errors in robotic wrists, e.g. for telerobotics applications, using inverse kinetics scheme based on robot motion limiter and tool centre point position compensator | |
CN108724195A (en) | A kind of coupled feedforward control method for robot | |
JPH07214435A (en) | Automatic screw tightening device | |
JP2011245614A (en) | Applying workspace limitations in velocity-controlled robotic mechanism | |
CN110879600A (en) | Multi-underwater robot system coordination control method based on distributed predictive control | |
WO2024024578A1 (en) | Robot control method and robot control device | |
Filipović et al. | Dynamic accuracy of robotic mechanisms. Part 2: Simulation experiments and results discussion | |
Kim et al. | Robust Adaptive Control of A HexaSlide Type Parallel Manipulator |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |