Title:
ARM CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPS61198304
Kind Code:
A
Abstract:
PURPOSE:To select automatically the attitude of an arm by using a ratio of the distance between a target position designated as a point on the operation course of the arm and the axis of the arm to that between the first and the second positions to interpolate the attitude. CONSTITUTION:The position and the attitude of an arm body 6 at a point nearest to an axis Z of the arm 6 are taught and stored preliminarily, and those at a point most distant from the axis Z are taught and stored preliminarily. A target position P is designated, and a distance R between the position P and the axis Z is obtained. The distance R is compared with a distance R1 between a position P1 and the axis Z and a distance R2 between a position P2 and the axis Z, and the target position and the target attitude are obtained to move the arm if R1<=R<=R2 is true. Thus, even when the arm is moved in a wide range, the attitude is automatically selected so as to utilize the moving range of the arm 6.
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Inventors:
TAKANASHI NOBUAKI
Application Number:
JP3916285A
Publication Date:
September 02, 1986
Filing Date:
February 28, 1985
Export Citation:
Assignee:
NEC CORP
International Classes:
B25J9/16; B25J9/10; G05B19/18; G05B19/42; (IPC1-7): B25J9/06; B25J9/10; G05B19/18
Attorney, Agent or Firm:
Uchihara Shin