Title:
CONTROLLER OF ROBOT
Document Type and Number:
Japanese Patent JP2017061022
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a controller of a robot capable of calculating an angle of each rotating portion of the robot, on the basis of modified DH parameters.SOLUTION: A control point is a distal end of a robot arm. The controller sets a target position-and-attitude of the control point as a temporary position-and-attitude. The controller inversely transforms the set temporary position-and-attitude on the basis of DH parameters, thus calculating a temporary angle Jtemp of each rotating portion. Then, the controller forward transforms the calculated temporary angle Jtemp of each rotating portion on the basis of modified DH parameters, thus calculating a position-and-attitude of the control point. The controller subsequently computes the amount by which the calculated position-and-attitude is deviated from the target position-and-attitude. The controller repeats the updating of the temporary position-and-attitude until the computed amount of deviation is smaller than a threshold value. When the computed amount of deviation becomes smaller than the threshold value, the temporary angle Jtemp having been calculated through the inverse transform is determined as an angle Jref of each rotating portion.SELECTED DRAWING: Figure 3
Inventors:
IDE SATOSHI
KAGAWA NAOYA
KAWASE DAISUKE
KAGAWA NAOYA
KAWASE DAISUKE
Application Number:
JP2015188521A
Publication Date:
March 30, 2017
Filing Date:
September 25, 2015
Export Citation:
Assignee:
DENSO WAVE INC
International Classes:
B25J9/10
Attorney, Agent or Firm:
Tsuyoshi Yamada
Hiroshi Matsuda
Hiroshi Matsuda
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