Title:
MANIPULATOR ACTION RANGE CONTROL DEVICE
Document Type and Number:
Japanese Patent JP3515796
Kind Code:
B2
Abstract:
PURPOSE: To provide a manipulator action range control device capable of accurately restricting the complicated action of a manipulator.
CONSTITUTION: A manipulator action range control device for restricting the action range of a manipulator 11 having at least two joints has a drive part driving respective joints #1, #2, and #3 based on the tip position target value of the manipulator 11. The position signal of a reference joint #2 is inputted in a limitation data ROM 52 to output the limitation data of the control- objective joint #3. The position signal of a control-objective joint and limitation data from the limitation data ROM 52 are compared by a comparator 56 to output an interference limit signal 5A.
Inventors:
Matsumaru, Takafumi
Application Number:
JP17830293A
Publication Date:
April 05, 2004
Filing Date:
July 19, 1993
Export Citation:
Assignee:
TOSHIBA CORP
International Classes:
B25J19/00; B25J19/06; G05B19/19; (IPC1-7): B25J19/06; B25J19/00; G05B19/19
Attorney, Agent or Firm:
佐藤 一雄 （外３名）
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