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1. 发明授权

US5617515A Method and apparatus for controlling and programming a robot or other moveable object 失效
标题翻译：用于控制和编程机器人或其他可移动物体的方法和装置
公开(公告)号：US5617515A
公开(公告)日：1997-04-01
申请号：US273480
申请日：1994-07-11
申请人： Brice K. MacLaren , Randall L. Johnson , Judson R. Griffin, III , James R. Meehan
发明人： Brice K. MacLaren , Randall L. Johnson , Judson R. Griffin, III , James R. Meehan
IPC分类号： B25J9/16 , B25J13/02 , G01B11/03 , G06F3/033 , H01H9/02 , G06K7/10 , G01B11/24
CPC分类号： G06F3/0346 , B25J13/02 , B25J9/1656 , G05B2219/39435 , H01H2300/026 , H01H9/0214
摘要： A hand-held controller wand including three angular rate measurement sensors is coupled to a computational device for translating roll, pitch, and yaw data into translation and rotation signals or commands that effect the movement of an external device's control point, which may be an end effector of a robot. A transformation matrix is continually updated from the angular rate information obtained from the hand-held controller. This matrix is used to update a direction vector. A value may be stored in the computation device corresponding to a predetermined speed of movement. A button or other convenient control allows the operator to control translational movement of the end effector or other controlled device in a direction defined by the orientation of the hand held controller at the predetermined speed, thus providing an intuitive control input for real-time direction and programming of movement. Because the present orientation of the wand is also known to the computational device, rotational movement may also be directed. Translation and orientation motion input may be provided simultaneously or separately, in accordance with the programming and/or under control of the computational device. The computational device translates the computed direction vector into signals corresponding to commands that depend upon the device being controlled; such translation is especially suited for robot controllers, because such controllers accept simple movement commands that may readily be computed from the direction vectors. However, the controller is also useful for other applications in which motion information is required, including the motion of real objects and virtual reality.
摘要翻译：包括三个角速度测量传感器的手持式控制器杆被耦合到用于将滚动，俯仰和偏航数据转换成影响外部设备的控制点的移动的平移和旋转信号或命令的计算设备，其可以是结束机器人的执行器。变换矩阵从从手持控制器获得的角速度信息中不断更新。该矩阵用于更新方向向量。值可以存储在与预定速度相对应的计算装置中。按钮或其他方便的控制允许操作者以预定速度控制末端执行器或其他被控制装置在由手持式控制器的方向限定的方向上的平移运动，从而为实时方向提供直观的控制输入，运动规划。因为魔杖的当前取向对于计算装置而言也是已知的，旋转运动也可以被引导。可以根据计算设备的编程和/或控制，同时或分开地提供翻译和定向运动输入。计算设备将所计算的方向向量转换为对应于依赖于被控制的设备的命令的信号; 这种平移特别适用于机器人控制器，因为这样的控制器接受可以容易地从方向向量计算的简单移动命令。然而，控制器对于需要运动信息的其他应用程序也是有用的，包括实际对象和虚拟现实的运动。

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