CONTROL DEVICE FOR POSITION AND FORCE OF MULTI-FREE WORKING MACHINE

Japanese Patent JPH0245806

A

PURPOSE:To execute suitable and efficient operation with a tool for working by executing the control operation of a position and force on the orthogonal coordinate system of a work surface. CONSTITUTION:Force and a moment to be added to a terminal effector 4 of a robot 1 is detected by a force sensor 3 and sent to a force arithmetic part 9 and conversion from a sensor coordinate system to a terminal coordinate system and gravity compensation is executed. The converted force and moment are further converted to a reference coordinate system in a coordinate converting part 10. A normal direction vector (n) is obtained from the data of the converted force in a normal direction arithmetic part 60 and from this vector and a coordinate shaft vector to show a setting plane, which is set in a plane setting part 64, a work surface coordinate is obtained in a coordinate shaft arithmetic part 63. Conversion from the reference coordinate system to this coordinate system is executed in a coordinate converting part 11 and the deviation of the force is operated. After that, with using coordinate converting parts 16 and 22, a velocity command value in a base coordinate system is operated and a motor is controlled.

KASHIWAGI KUNIO
KURENUMA TOORU
TSUTSUI SHINSAKU
YAMADA KAZUNORI

JP19771788A

February 15, 1990

August 08, 1988

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HITACHI CONSTRUCTION MACHINERY

B25J9/16; G05B19/18; G05B19/4093; G05D3/12; (IPC1-7): B25J9/16; G05B19/18; G05B19/403; G05D3/12

Kasuga

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