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# Method to Visualize Compliance of Manipulators

IP.com Disclosure Number: IPCOM000100928D
Original Publication Date: 1990-Jun-01
Included in the Prior Art Database: 2005-Mar-16
Document File: 2 page(s) / 49K

IBM

## Related People

Ishikawa, H: AUTHOR [+4]

## Abstract

A method is described by which compliance of a six-degrees-of-freedom manipulator can be displayed on the computer screen graphically. Robots with six degrees of freedom, and being compliance-controlled by solving the second-order equation of motion, have six parameters which show the degree of stiffness and six other parameters which show the degree of damping. Using the method described here, these twelve parameters are translated into colors and dimensions of three cones displayed on the computer screen.

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Method to Visualize Compliance of Manipulators

A method is described by which compliance of a
six-degrees-of-freedom manipulator can be displayed on the computer
screen graphically. Robots with six degrees of freedom, and being
compliance-controlled by solving the second-order equation of motion,
have six parameters which show the degree of stiffness and six other
parameters which show the degree of damping. Using the method
described here, these twelve parameters are translated into colors
and dimensions of three cones displayed on the computer screen.

There are three parameters to describe the degree of compliance
along each axis and around each axis. These are virtual mass (M),
virtual damping factor (Kd), virtual stiffness (Ks). In this method,
these three parameters are transformed into two parameters (D which
represents degree of damping and K which represents degree of
stiffness) using two functions: D = f(M, Kd, Ks) and K = g(M, Kd,
Ks). So the values to be displayed on the screen are four for one of
X-, Y-, Z-axis, which are 1) D along the axis, 2) K along the axis,
3) D around the axis, and 4) K around the axis.

In this method, these four parameters are represented on a
computer screen, using dimension and color of a cone. The parameters
are shown as follows:
K along  axis: Height   of a cone
D along  axis: Color    of the side of a cone
K around axis: Diameter of the bottom of a cone
D around axis: Color    of t...