EP 3484672 A1 20190522 - REDUNDANCY RESOLUTION FOR A REDUNDANT MANIPULATOR
Title (en)
REDUNDANCY RESOLUTION FOR A REDUNDANT MANIPULATOR
Title (de)
REDUNDANZAUFLÖSUNG FÜR EINEN REDUNDANTEN MANIPULATOR
Title (fr)
RÉSOLUTION REDONDANTE POUR MANIPULATEUR REDONDANT
Publication
Application
Priority
- DE 102016212958 A 20160715
- EP 2017000828 W 20170712
Abstract (en)
[origin: WO2018010842A1] The invention relates to a method for controlling a redundant manipulator (10), wherein the manipulator (10) has a plurality of movement axes (A1 - A7) and the method comprises the following steps: determining a primary task for controlling the manipulator (1), wherein the primary task comprises the traveling along a movement path (30) of the manipulator (10); determining at least one secondary task for controlling the manipulator (10), wherein the secondary task comprises the reducing of the effective mass (mu) and/or the effective inertia (Iu); calculating n alternatives of possible axis angles (α1 - α7) of the movement axes (A1 - A7) of the manipulator (10) for performing the primary task, and calculating the axis angular velocities for the n alternatives; and controlling the manipulator (10) while taking into consideration the n alternatives and the secondary task.
IPC 8 full level
B25J 9/16 (2006.01)
CPC (source: EP)
B25J 9/1643 (2013.01); B25J 9/1676 (2013.01); G05B 2219/39086 (2013.01); G05B 2219/40336 (2013.01); G05B 2219/40369 (2013.01)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
DE 102016212958 A1 20180118; EP 3484672 A1 20190522; WO 2018010842 A1 20180118
DOCDB simple family (application)
DE 102016212958 A 20160715; EP 17740292 A 20170712; EP 2017000828 W 20170712