Title:
【発明の名称】ロボツトの適応制御方法
Document Type and Number:
Japanese Patent JP2552266
Kind Code:
B2
Abstract:
PURPOSE:To realize movement control correspondent to external circumstances and make adaptive control of high level possible using simple algorithm by converting output of a sensor to an image and finding controlled variable. CONSTITUTION:Two each of ultrasonic sensors 21-2n, which are distance sensors, are provided on the side of a robot 1 that moves in two-dimensional real space (working space), and external circumstances by the sensors 21-2n, and the robot travels in the real space avoiding obstacles OB1, OB2. Positions of the obstacles OB1, OB2 are converted to positional coordinates from the value of detected distance R of the sensors 21-2n. An extent is formed in X, Y direction at the positions of the obstacles OB1, OB2 on the virtual plane of this constitution, and solid images Pa, Pb having height in the direction of P-axis are formed, and a potential curved face is formed by superposition of them. Thus, movement control correspondent to external circumstances is realized by simple algorithm, and adaptive control of high level is made possible.
Inventors:
YOSHIZAWA HIDEKI
ASAKAWA KAZUO
ASAKAWA KAZUO
Application Number:
JP15011786A
Publication Date:
November 06, 1996
Filing Date:
June 26, 1986
Export Citation:
Assignee:
FUJITSU LTD
International Classes:
B25J9/16; G05B13/02; G05B19/4093; G05B19/4155; G05B13/00; G05D1/02; (IPC1-7): G05D1/02; G05B13/02; G05B19/4155
Domestic Patent References:
| JP63603A |
Attorney, Agent or Firm:
Akira Yamatani