Manipulator

Details Manipulator Manipulator

B - Operations, Transporting

25

J

294/4

B25J 11/00 (2006.01) B25J 9/16 (2006.01) G05B 19/19 (2006.01) G05B 19/427 (2006.01)

Patent

CA 2018527

ABSTRACT OF THE DISCLOSURE A manipulator having a plurality of articula- tions 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 articula- tion, and a fuzzy inference determination unit for executing a fuzzy inference for each articulation by using the finite differences 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.

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