Title:
TRACKING CONTROL SYSTEM OF ARTICULATED ROBOT
Document Type and Number:
Japanese Patent JPS60217418
Kind Code:
A
Abstract:
PURPOSE:To attain on-line follow-up control without overflow by setting a point of a prescribed distance from the hand tip in the existing direction of an object and giving an input torque taking the point as the object position to each joint to eliminate the need for the orbit calculation. CONSTITUTION:A 3-dimensional position measuring device 8 inputs a real time measuring value of a hand tip 2 and an object 3 from TV cameras 4, 5 via A/D converters 6, 7 and measures sequentially each 3-dimensional position. The measured value is fed to a follow-up control operating device 30 via an A/D converter 12 together with an angle of each joint. The device 30 calculates an input torque to be arrived at the virtual object point being a point to the front eventually by a prescribed distance from the hand tip 2 to the object 3 based on the measured value. After the calculated input torque is amplified by a DC amplifier 15 via a D/A converter 14, the result is fed to a manipulator 1, which is driven. Thus, the on-line control without overflow is attained.
Inventors:
MAEDA YOUICHIROU
TAKEGAKI MORIKAZU
TAKEGAKI MORIKAZU
Application Number:
JP7428684A
Publication Date:
October 31, 1985
Filing Date:
April 11, 1984
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP
International Classes:
G05D3/12; B25J9/16; G05B19/19; (IPC1-7): B25J9/16; G05B19/19; G05D3/12
Attorney, Agent or Firm:
Masuo Oiwa
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