Computing device coordinate transformation method for the control of multi-joint robot, calculation method, and coordinate conversion device

摘要

PURPOSE:To attain an operation at a high speed by obtaining a deviation through mutual conversion of coordinates between the position and speed of each degree of freedom of an end effector delivered from a joint coordinate system and the position/speed command data of a rectangular coordinate system. CONSTITUTION:The command value of a rectangular coordinate system is delivered from a host system 4 containing a microcomputer. This command value contains the position command data, etc. The position feedback data is substracted from the position command data. Then the command data is added to the speed command data in the form of a correction component after control of gain carried out through a gain control part 14. This added speed command data is converted into a joint coordinate system through a coordinate converting part 6 and given to a movement equation operating part 9. While the acceleration command data is also converted into a joint coordinate system through a coordinate conversion part 7 and given to the part 9. The feedback data given from an encoder 11 is converted into a rectangular coordinate system by a coordinate conversion part 5. These command data are applied to a joint part 10 and controlled.