END EFFECTOR CONTROLLING METHOD
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United States of America Patent
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Issued Date -
Nov 5, 2015
app pub date -
May 2, 2014
filing date -
May 2, 2014
priority date (Note) -
Abandoned
status (Latency Note)
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Abstract
An end effector controlling method includes the steps of obtaining the 3D physical information of an object, finding an appropriate sucking position by a vector programming method, generating a control command to control the sucking position of an end effector. The vector programming method includes the steps of creating a virtual platform and creating a virtual object on the virtual platform from the obtained 3D physical information, obtaining reference planes from each reference axis, computing a curve of surface interactions of each reference plane and the virtual object separately, and searching a sucking position on each curve according to a reachable range of a finger. of the end effector.
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