Title:
MANIPULATOR CONTROL METHOD AND CONTROL SYSTEM
Document Type and Number:
WIPO Patent Application WO/2007/111252
Kind Code:
A1
Abstract:
A method for controlling a manipulator having a plurality of joint shafts performs manipulator control by repeating a step for transmitting a difference between the manipulator tip end position and a target position to each joint shaft and a step for independently correcting a joint displacement and a joint speed of each joint shaft until the tip end position is matched with the target position. According to the manipulator control method, it is possible to easily realize position control robust against the ambient environment even if a redundant or non-linear element is present.
Inventors:
OKAMOTO TAMAO
Application Number:
PCT/JP2007/056023
Publication Date:
October 04, 2007
Filing Date:
March 23, 2007
Export Citation:
Assignee:
MATSUSHITA ELECTRIC IND CO LTD (JP)
OKAMOTO TAMAO
OKAMOTO TAMAO
International Classes:
B25J9/10
Foreign References:
| JPH06226545A | 1994-08-16 | |||
| JPS61190604A | 1986-08-25 |
Attorney, Agent or Firm:
TANAKA, Mitsuo et al. (IMP Building3-7, Shiromi 1-chome,Chuo-ku, Osaka-sh, Osaka 01, JP)
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