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:
Sep. 10, 1991
Filed:
Jun. 12, 1990
Applicant:
Inventors:
Shinichi Takarada, Yokohama, JP;
Satoshi Mohri, Tokyo, JP;
Assignee:
Hitachi, Ltd., Tokyo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
3185681 ; 318574 ; 31856816 ; 901-9 ; 364513 ;
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.