Title:
METHOD AND DEVICE FOR ROBOT CONTROL
Document Type and Number:
Japanese Patent JPH0337701
Kind Code:
A
Abstract:
PURPOSE:To improve the operability and the safety of a robot by outputting a command signal corresponding to a preliminarily set management level to control the robot operation at the time of detecting that the hand position enters into an operation designation area. CONSTITUTION:When an operator sets operation designation areas, a coordinate transformation matrix determined by the structure of a robot 14 in accordance with joint angles of arms 14-1 to 14-n fed back from an arm joint angle detector 22 in every sampling period is used to calculate a hand position Peo in a reference coordinate system C0 by an arithmetic unit 23. In the descending order of set management levels 1 to 4 of inputted operation designation areas, the transformation matrix from the reference coordinate system C0 to a working coordinate system C1 and an area condition formula cut off by the set area type are used to detect whether the calculated hand position Peo is included in the area or not by calculation. When entrance to an area is detected, the command signal corresponding to its set management level is sent to a controller 20 to control the robot operation. Thus, the operability and the safety of the robot are improved.
Inventors:
OGAWA HIDEKI
Application Number:
JP17203889A
Publication Date:
February 19, 1991
Filing Date:
July 05, 1989
Export Citation:
Assignee:
TOSHIBA CORP
International Classes:
B25J9/22; B25J19/06; G05B19/19; G05B19/42; (IPC1-7): B25J9/22; B25J19/06; G05B19/19; G05B19/42
Domestic Patent References:
| JPS63245507A | 1988-10-12 | |||
| JPS63260786A | 1988-10-27 | |||
| JPS63268006A | 1988-11-04 |
Attorney, Agent or Firm:
Hidekazu Miyoshi (1 outside)
Next Patent: JPH0337702