TEACHING AND PLAYING METHOD OF A ROBOT USING REDUNDANCY CONTROL WITH A REDUNDANCY PARAMETER

摘要

PURPOSE: A teaching and playing method of a robot using redundancy control is provided to teach a robot with one or more redundancies using a redundancy parameter determined by interlocking with a joint structure.;CONSTITUTION: A teaching and playing method of a robot using redundancy control is as follows. A robot is taught by guiding the joint angle of the robot through analytical inverse kinematics based on an end-effector parameter and a redundancy parameter for controlling a posture. The redundancy parameter is determined by interlocking with the joint structure of the robot.;COPYRIGHT KIPO 2011