Title:
CONTROL METHOD FOR ARTICULATED ROBOT
Document Type and Number:
Japanese Patent JP2578310
Kind Code:
B2
Abstract:
PURPOSE: To enlarge the practical use range of an articulated robot having the super-many-degree of freedom.
CONSTITUTION: A shape curve being a three-dimensional space curve to satisfy the tip position and the posture demand of an articulated robot 1 is previously determined. The joint angle target value of a demand posture using a shape curve is decided only by algebraic computation and the position posture of the articulated robot 1 is controlled. This method enlarges the practical use range of the articulated robot 1 having the super-many-degree of freedom.
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Inventors:
OOMICHI TAKEO
OZAWA YUTAKA
SASAKI HIROSHI
OZAWA YUTAKA
SASAKI HIROSHI
Application Number:
JP26064593A
Publication Date:
February 05, 1997
Filing Date:
October 19, 1993
Export Citation:
Assignee:
MITSUBISHI HEAVY IND LTD
International Classes:
B25J13/00; B81B7/00; G05B19/18; (IPC1-7): B25J13/00; G05B19/18
Domestic Patent References:
| JP5930688A |
Attorney, Agent or Firm:
Toshiro Mitsuishi (1 person outside)