ROBOT CONTROL METHOD AND A ROBOT SYSTEM, CAPABLE OF PREDICTING SINGULARITY THAT A ROBOT EXPERIENCES WHILE PERFORMING A MOTION IN ADVANCE BEFORE PERFORMING THE MOTION

摘要

PURPOSE: A robot control method and a robot system are provided to prevent the malfunction of a robot in advance and undesired.;CONSTITUTION: A robot control method comprises; a step(504) for virtually dividing a whole path of a task given to a robot into a plurality of sections, a step(508) for calculating a joint control value of the robot in each section, and a step for determining possibility of singularity by comparing a joint control vale in a prior section and a joint control value in a current section. When a difference between the joint control values in the current section and the prior section is below a reference value, the possibility of the singularity is not existed. When a difference between the joint control values in the current section and the prior section is over the reference value, the possibility of the singularity is existed.;COPYRIGHT KIPO 2013;[Reference numerals] (502) Recognizing a whole path; (504) Virtually dividing the whole path into a plurality of sections; (506) Setting a path point for each divided section; (508) Calculating and storing a joint control value for each of the path points through inverse kinematics analysis of a robot; (510) Comparing the joint control value(C(n-1)) of the prior path point with the joint control value(C(n)) of the current path point; (512) C(n)-C(n-1) ≤ reference value ?; (518) Executing a motion; (520) Outputting an error message; (AA) Start; (BB,DD) No; (CC,EE) Yes; (FF) End