Patent US4467347A successfully refreshed from Google Patents.
US5047701A
Expired / Lapsed
US
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Manipulator
Assignee: Hitachi Ltd
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Filing: 1990-06-12
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Granted: 1991-09-10
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Expires: 2010-06-12
Abstract
Abstract A manipulator having a plurality of articulations to be controlled with a given destination value of position and orientation, has a finite difference unit for obtaining a finite difference between the destination value and a present value for each articulation, and a fuzzy inference determination unit for executing a fuzzy inference for each articulation by using the finite difference and determining a command value for each articulation. The position of the manipulator terminal may be obtained on the basis of each articulation angle data, video data from a TV camera, or data from an ultrasonic sensor.
Inventors
- 👤 Shinichi Takarada
- 👤 Satoshi Mohri
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 14:39
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1602; B25J9/161; G05B19/42; G05B19/427; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34065; G05B2219/37; G05B2219/37357; G05B2219/37425; G05B2219/37572; Y; Y10; Y10S; Y10S706/00; Y10S706/90
Claims Analysis
Total Claims: 19
Claim 1
Independent Claim
108 words
A manipulator system having a plurality of articulations, comprising: destination coordinate means for giving a destination coordinate value of the position and orientation of the terminal of a manipulator; present coordinate means for giving a present coordinate value of the position and orientation of the terminal of said manipulator; finite difference generating means connected to said destination coordinate means and said present coordinate means for generating finite differences between said destination coordinate value and said present coordinate value; and fuzzy inference means connected to said finite difference generating means for executing a fuzzy inference of said finite differences data for at least one of said plurality of articulations.
Claim 2
Dependent Claim
108 words
A manipulator system having a plurality of articulations, comprising: destination coordinate means for giving a destination coordinate value of the position and orientation of the terminal of a manipulator; present coordinate means for giving a present coordinate value of the position and orientation of the terminal of said manipulator; finite difference generating means connected to said destination coordinate means and said present coordinate means for generating finite differences between said destination coordinate value and said present coordinate value; and fuzzy inference means connected to said finite difference generating means for executing a fuzzy inference of said finite differences data for at least one of said plurality of articulations.
Claim 3
Dependent Claim
35 words
A manipulator system according to claim 1, further comprising angle sensor means for detecting the angle of each of said plurality of articulations of said manipulator and supplying said angle to said present coordinate means.
Claim 4
Dependent Claim
20 words
A manipulator system according to claim 2, wherein the number of said plurality of articulations of said manipulator is seven.
Claim 5
Dependent Claim
36 words
A manipulator system according to claim 1, wherein said present coordinate means includes a plurality of TV camera means for measuring the present coordinate value of the position and orientation of the terminal of said manipulator.
Claim 6
Dependent Claim
44 words
A manipulator system according to claim 1, wherein said fuzzy inference means includes weighting means for weighting, with respect to the position of said terminal of said manipulator, articulations near the base of said manipulator greater than articulations near the terminal of said manipulator.
Claim 7
Dependent Claim
33 words
A manipulator system according to claim 1, wherein said present coordinate means includes ultrasonic measurement means for measuring the present coordinate value of the position and orientation of said terminal of said manipulator.
Claim 8
Dependent Claim
15 words
A manipulator system according to claim 1, wherein said manipulator has a master-slave manipulator function.
Claim 9
Dependent Claim
63 words
A controller for a manipulator having a plurality of articulations, comprising: means for giving a finite difference set between a destination value and a present value of the position and orientation of the terminal of said manipulator; and means for determining a command value for each articulation angle by executing a fuzzy inference of said articulations with respect to at least one articulation.
Claim 10
Dependent Claim
63 words
A controller for a manipulator having a plurality of articulations, comprising: means for giving a finite difference set between a destination value and a present value of the position and orientation of the terminal of said manipulator; and means for determining a command value for each articulation angle by executing a fuzzy inference of said articulations with respect to at least one articulation.
Claim 11
Dependent Claim
26 words
A controller according to claim 8, further comprising a sensor for giving a present value of the position and orientation of said terminal of said manipulator.
Claim 12
Dependent Claim
13 words
A controller according to claim 9, wherein said sensor is a TV camera.
Claim 13
Dependent Claim
13 words
A controller according to claim 9, wherein said sensor is an ultrasonic sensor.
Claim 14
Dependent Claim
18 words
A controller according to claim 10, wherein said manipulator is a manipulator having a redundant degree of freedom.
Claim 15
Dependent Claim
13 words
A controller according to claim 11, wherein said manipulator is a master-slave manipulator.
Claim 16
Dependent Claim
66 words
A control method for a manipulator having a plurality of articulations, comprising: a step of giving a finite difference set between a destination value and a present value of the position and orientation of the terminal of said manipulator; and a step of executing a fuzzy inference of said articulations with respect to at least one articulation and determining a command value for each articulation angle.
Claim 17
Dependent Claim
66 words
A control method for a manipulator having a plurality of articulations, comprising: a step of giving a finite difference set between a destination value and a present value of the position and orientation of the terminal of said manipulator; and a step of executing a fuzzy inference of said articulations with respect to at least one articulation and determining a command value for each articulation angle.
Claim 18
Dependent Claim
53 words
A control method according to claim 14, further comprising a step of using a fuzzy rule which executes a fuzzy inference of an articulation near the base of said manipulator while giving an emphasis on the finite differences of the position of said manipulator terminal greater than the finite differences of the orientation.
Claim 19
Dependent Claim
34 words
A control method according to claim 14, further comprising a step of obtaining a present value of the position and orientation of said manipulator terminal by subjecting each manipulator articulation angle to coordinate transformation.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1994-09-09 | 1995-03-11 | 1995-09-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-09-09 | 1999-03-11 | 1999-09-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-09-09 | 2003-03-11 | 2003-09-10 | $7700.00 | Window Closed / Lapsed |