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    COORDINATED ACTION ROBOTIC SYSTEM AND RELATED METHODS
    4.
    发明申请
    COORDINATED ACTION ROBOTIC SYSTEM AND RELATED METHODS 有权
    协调行动机器人系统及相关方法

    公开(公告)号：US20110046781A1

    公开(公告)日：2011-02-24

    申请号：US12545367

    申请日：2009-08-21

    申请人： Matthew D. SUMMER

    发明人： Matthew D. SUMMER

    IPC分类号： G05B19/418

    CPC分类号： B25J9/1689 ,  B25J9/162 ,  B25J9/1682 ,  G05B2219/39146 ,  G05B2219/39172 ,  G05B2219/39259 ,  G05B2219/39439 ,  G05B2219/40161 ,  G05B2219/40171

    摘要： A coordinated action robotic system may include a plurality of robotic vehicles, each including a platform and at least one manipulator movable relative thereto. The robotic system may also include a remote operator control station that may include a respective controller for each manipulator. The remote operator control station may also include a mapping module to map movement of each manipulator relative to its platform. Operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction such that the robotic vehicles may be controlled as if they were one robotic vehicle. The coordinated movement may result in increased operational efficiency, increased operational dexterity, and increased ease of controlling the robotic vehicles.

    摘要翻译： 协调动作机器人系统可以包括多个机器人车辆，每个机器人车辆包括平台和可相对于其移动的至少一个操纵器。 机器人系统还可以包括远程操作员控制站，其可以包括用于每个操纵器的相应的控制器。 远程操作员控制站还可以包括映射模块，以映射每个操纵器相对于其平台的移动。 用于在给定方向上的操纵器运动的控制器的操作在给定方向上产生相应的操纵器的相应运动，使得机器人车辆可以被控制好像它们是一个机器人车辆。 协调运动可能会提高运营效率，增加运营灵活性，并增加控制机器人车辆的便利性。

    On-line method and apparatus for coordinated mobility and manipulation of mobile robots
    7.
    发明授权
    On-line method and apparatus for coordinated mobility and manipulation of mobile robots 失效
    用于协调移动和操纵移动机器人的在线方法和装置

    公开(公告)号：US5550953A

    公开(公告)日：1996-08-27

    申请号：US231597

    申请日：1994-04-20

    申请人： Homayoun Seraji

    发明人： Homayoun Seraji

    IPC分类号： B25J9/16 ,  G05B15/00 ,  G05B19/00

    CPC分类号： B25J9/162 ,  G05B2219/39081 ,  G05B2219/39172 ,  G05B2219/39174 ,  G05B2219/40252 ,  G05B2219/40293 ,  G05B2219/40297 ,  G05B2219/40298 ,  G05B2219/40327

    摘要： A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.

    摘要翻译： 公开了一种简单且计算有效的方法，用于在安装在移动基座上的操纵臂组成的移动机器人的在线协调控制。 讨论了基底迁移率对末端效应器操纵性指数的影响。 基本移动性和手臂操纵自由度被视为运动学冗余复合机器人的关节。 利用移动基础引入的冗余来满足末端执行器运动期间的一组用户定义的附加任务。 提出了一种简单的在线控制方案，其允许用户将加权因子分配给个体移动度和操作程度以及每个任务规范。 控制算法的计算效率使其特别适合实时实现。 详细讨论了四个案例研究，以演示协调控制方案在各种移动机器人中的应用。