Patents by Inventor Mark K. Long

Mark K. Long has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Extended task space control for robotic manipulators
    Patent number: 5499320
    Abstract: The invention is a method of operating a robot in successive sampling intervals to perform a task, the robot having joints and joint actuators with actuator control loops, by decomposing the task into behavior forces, accelerations, velocities and positions of plural behaviors to be exhibited by the robot simultaneously, computing actuator accelerations of the joint actuators for the current sampling interval from both behavior forces, accelerations velocities and positions of the current sampling interval and actuator velocities and positions of the previous sampling interval, computing actuator velocities and positions of the joint actuators for the current sampling interval from the actuator velocities and positions of the previous sampling interval, and, finally, controlling the actuators in accordance with the actuator accelerations, velocities and positions of the current sampling interval.
    Type: Grant
    Filed: March 24, 1993
    Date of Patent: March 12, 1996
    Assignee: The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Paul G. Backes, Mark K. Long