Title:
CONTROL METHOD FOR MANIPULATOR
Document Type and Number:
Japanese Patent JP3643867
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To determine a revolute joint angle of a manipulator having high degree of redundancy without performing complicated computing having a large processing load.
SOLUTION: A first link L1 to a seventh link L7 are regarded as a first elastic body 41 to a seventh elastic body 41 (natural length of each elastic body agrees with a length of each link), respectively, for the manipulator 1 connecting the first link L1 to the seventh link L7 by a first revolute joint J1 to a sixth revolute joint J6. All of the first to the sixth revolute joints J1 to J6 are opened after moving an end effector 3 to a target position while all of the first to the sixth revolute joints J1 to J6 are fixed. A process in which the first to the seventh elastic bodies 41 to 47 return to natural length is simulated, and the first to the sixth revolute joints J1 to J6 are controlled to obtain revolute joint angles at that time in order to move the end effector 3 to the target position.
Inventors:
Shinichi Kimura
Application Number:
JP2001221884A
Publication Date:
April 27, 2005
Filing Date:
July 23, 2001
Export Citation:
Assignee:
National Institute of Information and Communications Technology
International Classes:
B25J9/16; B25J9/18; B25J13/00; B25J9/10; (IPC1-7): B25J9/10; B25J13/00
Domestic Patent References:
| JP10333723A | ||||
| JP2001277161A | ||||
| JP9314487A | ||||
| JP7164360A |
Other References:
都井 裕,骨組み構造および回転対称シェル構造の有限要素解析におけるShifted Integration法について,日本造船学会論文集,日本,1990年12月,No.168,PP.369-377
Attorney, Agent or Firm:
Kenzo Fukuda
Shinichi Fukuda
Takemichi Fukuda
Shinichi Fukuda
Takemichi Fukuda
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