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SE0203180D0 - New method eliminating position errors caused by kinematics singularities robotic wrists for use in intelligent control and telerobotics applications - Google Patents

New method eliminating position errors caused by kinematics singularities robotic wrists for use in intelligent control and telerobotics applications

Info

Publication number
SE0203180D0
SE0203180D0 SE0203180A SE0203180A SE0203180D0 SE 0203180 D0 SE0203180 D0 SE 0203180D0 SE 0203180 A SE0203180 A SE 0203180A SE 0203180 A SE0203180 A SE 0203180A SE 0203180 D0 SE0203180 D0 SE 0203180D0
Authority
SE
Sweden
Prior art keywords
kinematics
singularities
telerobotics
position errors
applications
Prior art date
Application number
SE0203180A
Other languages
Swedish (sv)
Other versions
SE525399C2 (en
SE0203180L (en
Inventor
Mikael Fridenfalk
Original Assignee
Mikael Fridenfalk
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mikael Fridenfalk filed Critical Mikael Fridenfalk
Priority to SE0203180A priority Critical patent/SE525399C2/en
Publication of SE0203180D0 publication Critical patent/SE0203180D0/en
Publication of SE0203180L publication Critical patent/SE0203180L/en
Publication of SE525399C2 publication Critical patent/SE525399C2/en

Links

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)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

Position errors near and on inner kinematics singularity points are eliminated using an inverse kinematics scheme based on AC, where A is an inverse kinematics calculator followed by a limiter that limits robot motion with respect to kinematics and dynamics constraints of the total robot system, including its surrounding environment and incorporating properties such as maximum joint, velocity, acceleration and torque limits. The limiter can decrease or equalize constraint values in the neighbourhood of singularities for enhanced control stability. C is a compensator which modifies the position of the tool centre point (TCP) for the robot on the basis of A, building a transformation matrix Pout by concatenation of the position part of Pin and the rotation part of Plim.
SE0203180A 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 SE525399C2 (en)

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 true SE0203180D0 (en) 2002-10-30
SE0203180L SE0203180L (en) 2004-05-01
SE525399C2 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)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2905968A1 (en) 2013-03-15 2014-09-25 Sri International Hyperdexterous 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

Also Published As

Publication number Publication date
SE525399C2 (en) 2005-02-15
SE0203180L (en) 2004-05-01

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