EVALUATING MOTION CHARACTERISTIC OF MANIPULATOR AND WORK PLANNING METHOD

摘要

PURPOSE: To provide methods for evaluating the motion characteristics of manipulators and for adapting the characteristics to work planning, whereby the motion characteristics of the manipulators in the whole movable region are evaluated with the characteristics of the individual manipulators taken into account and the evaluation result can be adapted to the work planning. ;CONSTITUTION: The local motion characteristics of the output ends of manipulators are evaluated by a dynamic speed region or dynamic acceleration region which is a set of speeds or accelerations that can be produced with the output ends of the manipulators in a movable regal A dynamic speed region which is a set of speeds that can be produced when the output ends of time manipulators make uniform motion within the movable region is calculated, and a dynamic operational region which is a set of positions and attitudes of the output ends at which desired speeds can be produced in all directions is calculated, and the positions and attitudes of the output ends included in the dynamic operational region constitute the operations of the output ends.;COPYRIGHT: (C)1995,JPO