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CONTROL DEVICE OF MULTIPLE POINT MANIPULATOR AND METHOD FOR GENERATING OPERATION TRACK OF HAND FOR MULTIPLE POINT MANIPULATOR
CONTROL DEVICE OF MULTIPLE POINT MANIPULATOR AND METHOD FOR GENERATING OPERATION TRACK OF HAND FOR MULTIPLE POINT MANIPULATOR
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机译:多点机械手的控制装置和产生多点机械手的操作轨迹的方法
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摘要
PROBLEM TO BE SOLVED: To provide a method for generating operation track of a hand for an multiple joint manipulator in which when a reverse coordinate transformation can not appropriately performed, an already-calculated target point can be reused without performing calculation to regenerate a singular point avoiding track at a singular point or in a vicinity thereof.;SOLUTION: This device includes the multiple joint manipulator 7 with joints 9, 11, 13 being connected through arms 10, 12, provided with a hand 8 at an end; a driving device arranged on the multiple joint manipulator 7 to drive the joints 9, 11, 13; and a control device 4 moving the hand 8 along a linear track by driving the driving device so that the joints 9, 11, 13 can sequentially reach a target value in a joint angle coordinate system derived by reverse coordinate transformation to a joint angle coordinate corresponding to a target point on the linear track. When a singular point for which no appropriate solution can be obtained by reverse coordinate transformation exists on the linear track or in the vicinity, the control device 4 generates a conical avoiding track with its center at the target point where the singular point exits or at the vicinity of the singular point.;COPYRIGHT: (C)2010,JPO&INPIT
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