The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 29, 1981
Filed:
Dec. 12, 1979
Tatsuo Arai, Urawa, JP;
Agency of Industrial Science & Technology, Tokyo, JP;
Ministry of International Trade & Industry, Tokyo, JP;
Abstract
A method and apparatus for controlling a manipulator by establishing polynomials obtained, as the functions of two sets of command values, the one set representing the position and the other set representing the direction respectively of the manipulator hand, by approximating the values of angles of rotation prescribed for the drive mechanisms of the manipulator and the arm of the manipulator, subjecting the aforementioned polynomials to an arithmetic operation in electronic circuitry by use of the aforementioned objective-command values in conjunction with the coefficients of the aforementioned polynomials established in advance by calculation and thereby deriving angular magnitudes for the separate drive mechanisms of the manipulator and controlling the operation of the drive mechanisms based on the angular magnitudes.