Title:
SENSOR POSITION/ATTITUDE AND ROUTE FOLLOWING CONTROL METHOD
Document Type and Number:
Japanese Patent JP3198467
Kind Code:
B2
Abstract:
PURPOSE: To surely catch a route in the viewfield of a sensor by estimating the position and the attitude of the route at a new sensing time point based on the route functions which are sequentially produced based on the discrete information given from the sensor.
CONSTITUTION: A route following controller is actuated to collect the route information on a work subject through a sensor and also to sequentially produce the route functions to the reference coordinates of the sensor. Based on these route functions, the position and the attitude of an end effector are controlled and the effector follows a target route 1. At the same time, a route function Pi-1(S) is generated to show a route 6 preceding the (i-1)-th section. Then a route function Pi(S) showing the latest route 5 is generated when the latest sensor data Dn is obtained. Based on this function Pi(S), the end effector advances on the route 1 with change of its position and attitude to perform the next sensing operation with a command of a robot control means.
Inventors:
Kiyoshi Nonaka
Tohru Kaneko
Tohru Kaneko
Application Number:
JP18815092A
Publication Date:
August 13, 2001
Filing Date:
July 15, 1992
Export Citation:
Assignee:
Nippon Telegraph and Telephone Corporation
International Classes:
B25J9/10; B25J13/08; G05B19/19; G05B19/4155; G05D3/12; (IPC1-7): G05B19/19; B25J9/10; B25J13/08; G05B19/4155; G05D3/12
Domestic Patent References:
| JP23805A | ||||
| JP27108A | ||||
| JP6442706A | ||||
| JP59223817A |
Attorney, Agent or Firm:
Takahiko Suga