DEVICE AND A METHOD FOR CONTROLLING A SIX SHAFTS ROBOT WITH A HUMAN JOINT STRUCTURE, CAPABLE OF CALCULATING THE POSITION VALUE OF EACH JOINT USING AN INVERSE TRIGONOMETRIC LAW

摘要

PURPOSE: A device and a method for controlling a six shafts robot with a human joint structure are provided to inversely transform a homogeneous transformation matrix of each joint and a target matrix in a six shaft vertical multi-joint robot arm and to calculate the position value of each joint using an inverse trigonometric law based on the inversely transformed matrix and the target matrix.;CONSTITUTION: A device for controlling a six shafts robot with a human joint structure comprises an inverse transformation unit and a position value calculating unit. The inverse transformation unit inversely transforms a target matrix of a robot arm and a homogeneous transformation matrix of each joint. The position value calculating unit calculates the position value of each joint using an inverse trigonometric law based on the homogeneous transformation matrix and the target matrix.;COPYRIGHT KIPO 2013