Title:
【発明の名称】マニピユレータの位置と力の協調制御装置
Document Type and Number:
Japanese Patent JP2770982
Kind Code:
B2
Abstract:
A force and moment which a manipulator receives from an external environment is detected, and this detected value is multiplied by a gain inversely proportional to a virtual spring constant set by a tool coordinate system, and the product is further converted to a value in each joint coordinate system of the manipulator so as to determine a detection torque. A command value of force and moment is converted to a value in each joint coordinate value of the manipulator in the same way as described above, so as to determine a command torque. A difference between a position command value and a position detection value is multiplied by a virtual spring constant in each joint coordinate system of the manipulator obtained by converting the virtual spring constant, and a differential torque is obtained by converting the aforementioned difference to a force and moment corresponding to the difference. A targeted torque is determined by adding the command torque and the differential torque, and feedback control is effected such that the detected torque of each joint of the manipulator coincides with the targeted torque.
Inventors:
KUNO TOSHITAKA
KOIDE MITSUO
KOIDE MITSUO
Application Number:
JP13214589A
Publication Date:
July 02, 1998
Filing Date:
May 25, 1989
Export Citation:
Assignee:
TOYODA CHUO KENKYUSHO KK
International Classes:
B25J13/00; B25J9/16; G05B19/23; G05B19/4155; G05D3/12; (IPC1-7): G05D3/12; B25J13/00; G05B19/4155
Domestic Patent References:
| JP6473402A | ||||
| JP63285617A | ||||
| JP60254209A |
Attorney, Agent or Firm:
Atsushi Nakajima (1 person outside)