Velocity-variation minimization control method for robot
CA 2040459 C · Owner: Kawasaki Jukogyo Kabushiki Kaisha · Inventors: Nakatsuchi, Yoshiaki; Yano, Tatsuo
Overview
Its claims, description and drawings are in the Canadian Patents Database.
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A velocity-variation minimization control method for robot includes the steps of substituting a position vector for a start point, a velocity vector for the start point, a position vector for an end point a velocity, vector for the end point, and a provisional movement time into equations that express the position and velocity of the robot as cubic functions with respect to time to, obtain solutions for coefficients of the cubic functions; obtaining a sum of squares of differences between a velocity obtained using the coefficients and a target velocity; using convergence calculations to obtain a value of the movement time that minimizes the sum of squares; and controlling-said robot in such …
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Listed from its CIPO record in Patent Yard's archive of Canadian patents past their term. Its claims, description and drawings are in the CIPO record and on Google Patents, and the Claude kit works from them.
Why it's free to use
- Filed April 15, 1991 and granted January 21, 1997. A Canadian patent filed from October 1, 1989 lasts 20 years from filing, so its term ended April 15, 2011.
- A certificate of supplementary protection adds at most two years for a drug, so even that would have ended by April 15, 2013.
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Everything on this page comes from the CIPO record linked above. Contains information licensed under the Open Government Licence – Canada.