TRACK CONTROL METHOD FOR MANIPULATOR TYPE ROBOT

摘要

PURPOSE:To ensure a high-speed shift and to improve the working efficiency with a manipulator type robot by allowing the dislocation from a route of the robot on a route between passing points except a target point while having the speed control and without stopping the drive of the robot and then giving the position control to the robot when it approaches to the target point. CONSTITUTION:A robot main body contains such basic mechanisms including a servo mechanism included in a block A, an arithmetic part included in a block B, and a route forming part included in a block C respectively. In such a constitution, it is decided that the robot passed over a passing point via its hand in case the root of a vertical line drawn down to a route from the hand position moves toward an extended line of the route over the passing point when the track of the robot is controlled. In other words, the moving direction of the hand is decided by a positive or negative coordinate component having a speed. At the same time, a fact that the robot has passed the passing point is decided by the scale of the same coordinate system set at the passing point. Such actions are repeated to change the moving speed of the robot based a speed vector. Thus the robot approaches its target point with no stop despite some detouring and the robot speed is controlled by the speed vector. Thus the robot can surely reach its target point.