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Title:
METHOD FOR CONTROLLING ATTITUDE OF ROBOT
Document Type and Number:
Japanese Patent JPS63200210
Kind Code:
A
Abstract:
PURPOSE:To omit a complicated deciding job, etc., by converting the sensor output of a real space into a stereoscopic image in an (n+1)-dimensional virtual space against an n-dimensional real space and forming a recessing/projecting surface in a virtual space to use this space as a control field of a dynamic model. CONSTITUTION:The ultrasonic distance sensors 21-24 are provided on the side face of a robot 1 which moves in the two-dimensional X and Y working spaces. Thus the robot 1 moves the working spaces (parallel advance, attitude control) by avoiding the obstacles OB1 and OB2 while grasping its external environment. The attitude control is carried out by supposing a three- dimensional virtual space where an axis P is added in the two-dimensional direction of the robot 1. Then, a stereoscopic image that has its extension of the X/Y axis direction and its height in the P axis direction respectively is produced at a prescribed position of said virtual space against the outputs of sensors 21-24 obtained in the working areas. The control value is obtained based on the state value of a field of the P axis direction obtained by said stereoscopic image. Thus the robot 1 is controlled.

Inventors:
YOSHIZAWA HIDEKI
ASAKAWA KAZUO
KATSUKURA MIKIMOTO
Application Number:
JP3276587A
Publication Date:
August 18, 1988
Filing Date:
February 16, 1987
Export Citation:
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Assignee:
FUJITSU LTD
International Classes:
G05D1/08; B25J9/16; B25J13/08; G05B13/02; G05B19/4155; G05D1/02; (IPC1-7): B25J9/16; B25J13/08; G05D1/08



 
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