A - Human Necessities – 01 – J
Patent
A - Human Necessities
01
J
A01J 5/017 (2006.01) B25J 18/00 (2006.01)
Patent
CA 2663775
The invention provides a method for controlling a robot arm arranged to bring animal operation means in a specific position relative to an animal body part, said robot arm being controlled to maintain a certain position relative to the animal body part during the animal-related operation, said robot arm being controlled not to perform a movement unless the body part lies outside a tolerance range around a current position of the robot arm, characterized in that the boundaries of said tolerance range are defined repeatedly in dependence on at least the current position and the current speed of the animal body part. Hence, the tolerance range is dynamic, and dependent on the measured movement of the body part or body part reference point. By taking such movement into account, it has proved possible to reduce robot arm movements, both in number and in covered way. The invention also provides an implement arranged to perform the method.
Benzler Steffen
Van Der Tol Patrick Philip Jacob
Fetherstonhaugh & Co.
Lely Patent N.v.
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