Title:
CONTROL METHOD FOR ROBOT SYSTEM
Document Type and Number:
Japanese Patent JPH04352201
Kind Code:
A
Abstract:
PURPOSE:To provide the robot system which finds reverse kinematic solution finding operation in a short time with high accuracy without any complicated analysis at the time of driving a robot by converting a spatial operation track into articulation coordinates when the spatial operation track is given. CONSTITUTION:A position or attitude 14 represented as spatial coordinates is converted into a backward kinematic solution approximate value first by a neural network part 16 and the approximate value is converted 18 and processed by forward kinematic conversion 18; and fuzzy inference 17 is carried out according to the deviation from an input 15 and when the deviation becomes less than a threshold value, the result is outputted 20. This constitution increases the accuracy as compared with the use of only the neural network and realizes the backward kinematic solution finding operation which is converged in a shorter time than when only the fuzzy inference is used.
Inventors:
OGISO TOSHIO
KURISUTOFUAA KOZAKIEEBUICHI
KURISUTOFUAA KOZAKIEEBUICHI
Application Number:
JP12718391A
Publication Date:
December 07, 1992
Filing Date:
May 30, 1991
Export Citation:
Assignee:
HITACHI LTD
International Classes:
B25J9/10; B25J9/22; B25J13/00; G05B13/02; G05B19/4093; G05D3/12; G06F15/18; G06G7/60; G06N3/00; G06N99/00; (IPC1-7): B25J9/10; B25J9/22; B25J13/00; G05B13/02; G05B19/403; G05D3/12; G06F15/18; G06G7/60
Attorney, Agent or Firm:
Katsuo Ogawa