Title:
METHOD FOR CONTROLLING ARTICULATED ROBOT, ROBOT SYSTEM, PROGRAM, AND METHOD FOR MANUFACTURING ARTICLE
Document Type and Number:
WIPO Patent Application WO/2024/048286
Kind Code:
A1
Abstract:
Provided is a method for controlling an articulated robot having a plurality of seven or more joints. The method for controlling an articulated robot: performs inverse-kinematics computation for computing the amounts of shift of a plurality of joints that allow the articulated robot to operate; repeatedly performs a unit process that includes a calculation process for updating a plurality of joint values of the plurality of joints on the basis of the amounts of shift, and a fixed process that is performed with respect to one of the plurality of joints of which a state based on the joint value is a predetermined specific state; and, if the fixed process is performed, shifts, during the calculation process, the joint value of a joint that does not have the specific state without substantially shifting the joint value of the joint of the specific state, among the joint values of the plurality of joints.
Inventors:
HANDA TOMOHIDE (JP)
NAKANISHI HIDEYUKI (JP)
TANIMURA SATOSHI (JP)
NAKANISHI HIDEYUKI (JP)
TANIMURA SATOSHI (JP)
Application Number:
PCT/JP2023/029630
Publication Date:
March 07, 2024
Filing Date:
August 16, 2023
Export Citation:
Assignee:
LAUREL BANK MACHINE CO (JP)
LAUREL MACHINERY CO LTD (JP)
LAUREL PREC MACHINES CO LTD (JP)
LAUREL MACHINERY CO LTD (JP)
LAUREL PREC MACHINES CO LTD (JP)
International Classes:
B25J13/00
Foreign References:
| JP2015174185A | 2015-10-05 | |||
| JP2022059740A | 2022-04-14 |
Attorney, Agent or Firm:
OHCHI INTERNATIONAL IP (JP)
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