System and method for controlling a robotic arm

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 rep...

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Bibliographic Details
Main Authors GRAHAM ANDREW CRISPIN, BUCKINGHAM ROBERT OLIVER
Format Patent
LanguageEnglish
Published 10.07.2012
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CLEANING
CLEANING IN GENERAL
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
PREVENTION OF FOULING IN GENERAL
TRANSPORTING
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Summary: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.
Bibliography:Application Number: US20090400392