APPARATUS FOR CONTROLLING POSITION AND MOTION PATH OF MOBILE ROBOT Russian patent published in 2002 - IPC

FIELD: robotics, particularly, development of control systems for providing motion of mobile robots and microrobots along predetermined path. SUBSTANCE: apparatus includes mechanical system of robot; actuating devices; unit of pickups for transmitting inner data; sensor subsystem; unit for planning motions in space of outer coordinates; unit for calculating vector of non-linear elements; unit for calculating matrix of control coefficients; unit for calculating derivative of column-vector of outer speeds according to row-vector of outer coordinate; unit for calculating derivative of column-vector of outer speeds according to row-vector of inner coordinate; unit for calculating vector of outer speeds; three units for multiplying by two; sixteenth multiplying units; twelve adders; unit for transforming matrix; three units for transposing matrices. EFFECT: enhanced accuracy. 4 dwg