Title:
CONTROL SYSTEM OF ROBOT
Document Type and Number:
Japanese Patent JPS583002
Kind Code:
A
Abstract:
PURPOSE:To generate an indicating value by a smaller sampling period, and to move and control a body to be controlled, smoothly and with high accuracy, by interpolating a space against plural samples, joint angles and angular speeds. CONSTITUTION:When a start point and an end point have been provided, an operation processing part 1' generates a speed curve by which a movement in the axial direction ends simultaneously, from these data, in accordance with which a point on the moving curve extending from the start point to the end point is calculated at every sampling period. Subsequently, a sampling position Xk+m read in advance is outputted to a coordinate converting part 11, by (m) time point (m>=3). The coordinate converting part 11 converts the sampling position Xk+m outputted from the operation processing part 1', to each jount angle thetak+m, and outputs it to a locus interpolating part 12. The locus interpolating part 12 operates a value of each joint angle in the intermediate part of each sampling time point.
Inventors:
MARUYAMA TSUGITO
KAWAKAMI SUSUMU
KAWAKAMI SUSUMU
Application Number:
JP10185281A
Publication Date:
January 08, 1983
Filing Date:
June 30, 1981
Export Citation:
Assignee:
FUJITSU LTD
International Classes:
B25J9/16; G05B19/41; G05B19/4103; (IPC1-7): B25J9/00; B25J13/00; G05B19/415
Domestic Patent References:
| JPS55138112A | 1980-10-28 | |||
| JPS57173484A | 1982-10-25 |
Attorney, Agent or Firm:
Akira Yamatani
Next Patent: JPS583003