METHOD FOR ROTATING ELBOW OF MANIPULATOR HAVING SEVEN OR MORE REDUNDANT SHAFTS

摘要

PURPOSE: To provide a method to prevent the occurrence of contact with an obstacle by rotating inward or outward an elbow part in a state to not change the position and the attitude of the tool part of a manipulator without varying the position of a shoulder part. ;CONSTITUTION: A three-logic-computation processing means is provided for performing computation to rotate the position and the attitude of a tool part 1' to a shaft for interconnecting the point of the shoulder of a manipulator and a point selected to the vicinity of the control point of a tool, computation to match with a first tool control point by moving the shaft 3 or the shaft 4 of a manipulator selected from manipulators positioned closer to the tool 2' side, and computation to match the control point position of a first tool by using the whole shaft of the manipulator 3'. By executing, the three processings in order a micro shaft angle displacement through which elbow rotation is realized is determined to rotate the elbow part of the manipulator.;COPYRIGHT: (C)1993,JPO&Japio