Manipulator and control method

United States Patent No.4,928,047

[Inventors]

Hirohiko Arai, Susumu Tachi

[Applicant]

Agency of Industrial Science & Technology, Ministry of International Trade, Tokyo, Japan

[Issued/Filed Dates]

May. 22, 1990 / March 20, 1989

[Application Number]

US1989000325926

[IPC Class]

B25J 001/02;

[Priority Number]

JP1988000080079

[Abstract]

A multiple-degree-of-freedom manipulator having a plurality of joints is improved by providing some of said plurality of joints being provided with holding brakes, and providing any remaining joints with actuators which generate angular acceleration or linear acceleration in the joints provided with holding brakes while the holding brakes of the joints are released. A method of controlling the multiple-degree-of-freedom manipulators provided with one or more joints provided with holding brakes and one or more joints provided with actuators, comprises the steps of controlling the angular displacement or linear displacement of joints which have no actuators by the torque or force of joints which have actuators by means of the dynamic coupling between joints while the holding brakes are released, and controlling the angular displacement or linear displacement of joints which have actuators by means of the actuators while the brakes are engaged.

[Claims]

What is claimed is:

1. A multiple-degree-of-freedom manipulator comprising:

2. A method for controlling a multiple-degree-of-freedom manipulator having a plurality of links joined together with at least one passive joint provided with a brake and a first sensor and at least one active joint provided with an actuator and a second sensor, comprising the steps of: