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:
Jul. 10, 2012
Filed:
Mar. 09, 2009
Robert Oliver Buckingham, Abingdon, GB;
Andrew Crispin Graham, Bristol, GB;
Robert Oliver Buckingham, Abingdon, GB;
Andrew Crispin Graham, Bristol, GB;
Abstract
A method of controlling the position of an elongate robotic arm comprising articulated segments. An actuator is associated with each segment to control its position, and a control system operates the actuators. Data representing the position of the arm is gathered and compared to input data that represents a required new position of a part of the arm. Data representing the required new position of the arm is then calculated, attempting to keep the remainder of the arm as close as possible to its previous position. The actuators are operated to move the arm into the new position. In tip following, the data representing the new position may define a path, and the arm may be fitted to the path by matching the position and orientation of a point on each pair of adjacent segments to that of the path.