Title:
CONTROL DEVICE AND ROBOT SYSTEM
Document Type and Number:
Japanese Patent JP2018202535
Kind Code:
A
Abstract:
To move an end effector to a target position at a high speed and with high accuracy.SOLUTION: A control device includes: a first processing section (P1) which calculates a temporary angle of a prescribed joint of a plurality of joints (J1 to J6) and calculates all the angles of the plurality of joints (J1 to J6) from the temporary angle on the basis of a coordinate position of a target position, thereby calculating first final angles of the plurality of joints (J1 to J6) which makes an end effector (EE) closer to the target position; and a second processing section (P2) which calculates a coordinate position of the end effector (EE) on the basis of angles of the plurality of joints (J1 to J6) which are changed from the first final angles and calculates second final angles of the plurality of joints (J1 to J6) when a difference between the coordinate position of the end effector (EE) and the coordinate position of the target position is equal to or smaller than a prescribed value.SELECTED DRAWING: Figure 1
Inventors:
VINEET JACOB KURUVILLA
HAN HAO
LIN WE
JOHANNES DAUD
LIN SONG
HAN HAO
LIN WE
JOHANNES DAUD
LIN SONG
Application Number:
JP2017109467A
Publication Date:
December 27, 2018
Filing Date:
June 01, 2017
Export Citation:
Assignee:
NIHON DENSAN KK
NIDEC SINGAPORE PTE LTD
NIDEC SINGAPORE PTE LTD
International Classes:
B25J9/10; G05B19/18
Attorney, Agent or Firm:
High law patent corporation