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SYSTEM AND METHOD FOR CONTROLLING REDUNDANT ROBOT FOR ENHANCING STIFFNESS IN WORKSPACE, AND RECORDING MEDIUM HAVING COMPUTER-READABLE PROGRAM FOR EXECUTING METHOD
SYSTEM AND METHOD FOR CONTROLLING REDUNDANT ROBOT FOR ENHANCING STIFFNESS IN WORKSPACE, AND RECORDING MEDIUM HAVING COMPUTER-READABLE PROGRAM FOR EXECUTING METHOD
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机译:控制冗余机器人以增强工作空间中的刚度并记录具有用于执行方法的计算机可读程序的介质的系统和方法
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摘要
A redundant robot control system comprises an input information setting unit, a location control information generation unit, a workspace stiffness information generation unit, a posture control information generation unit and a joint control information generation unit. The input information setting unit sets up workspace location information, joint-space stiffness information and work direction information of a redundant robot; the location control information generation unit generates workspace location control information of the redundant robot by using the workspace location information; the workspace stiffness information generation unit generates stiffness information of the redundant robot in the workspace by using the joint-space stiffness information of the redundant robot; the posture control information generation unit generates posture control information for maximizing the stiffness of the redundant robot in a work direction in the workspace by using the work direction information and the stiffness information of the redundant robot in the workspace; and the joint control information generation unit generates joint control information of the redundant robot by using the workspace location control information and the posture control information.
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