JPS6467609A - Control method for robot attitude - Google Patents
Control method for robot attitudeInfo
- Publication number
- JPS6467609A JPS6467609A JP62224027A JP22402787A JPS6467609A JP S6467609 A JPS6467609 A JP S6467609A JP 62224027 A JP62224027 A JP 62224027A JP 22402787 A JP22402787 A JP 22402787A JP S6467609 A JPS6467609 A JP S6467609A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- attitude
- moment
- target position
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000009466 transformation Effects 0.000 abstract 1
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
PURPOSE:To secure the optimum attitude of a robot when an obstacle is evaded by defining the coefficient that decides the value of a 2nd moment as a function and reducing this function value as the robot moves further away from a target position. CONSTITUTION:A moment M1 is obtained by applying the image transformation to the outputs of external sensors 21 and 22 of a robot 1 into an (n+1)- dimensional virtual space corresponding to an N-dimensional work space. A moment M2 is produced from the product of a certain coefficient and the deviation between the target attitude phir and the present attitude phi of the robot 1 set at the arrived target position. Then a moment M3 is obtained from the present rotational angle speed. The attitude of the robot 1 is controlled by said moments M1-M3. Here a function is used to the coefficient that decides the value of the moment M2 and this function value is reduced as the robot 1 moves further away from the target position. Thus the robot 1 is controlled to an attitude optimum to evade obstacles at a place remote from the target position. The value of the M2 is increased when the robot 1 moves close to the target. As a result, the robot 1 is controlled so as to be turned accurately to a target angle at a target position.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62224027A JP2610443B2 (en) | 1987-09-09 | 1987-09-09 | Robot attitude control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62224027A JP2610443B2 (en) | 1987-09-09 | 1987-09-09 | Robot attitude control method |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6467609A true JPS6467609A (en) | 1989-03-14 |
JP2610443B2 JP2610443B2 (en) | 1997-05-14 |
Family
ID=16807440
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62224027A Expired - Lifetime JP2610443B2 (en) | 1987-09-09 | 1987-09-09 | Robot attitude control method |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2610443B2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05265554A (en) * | 1992-01-24 | 1993-10-15 | Tsubakimoto Chain Co | Method for guiding moving body without specifying path |
JP2011031309A (en) * | 2009-07-29 | 2011-02-17 | Toshiba Corp | Method of generating moving body posture and device of generating moving body posture |
CN115229772A (en) * | 2022-08-23 | 2022-10-25 | 深圳市越疆科技有限公司 | Robot, robot control method, robot control device, robot control equipment, storage medium and mechanical arm |
-
1987
- 1987-09-09 JP JP62224027A patent/JP2610443B2/en not_active Expired - Lifetime
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05265554A (en) * | 1992-01-24 | 1993-10-15 | Tsubakimoto Chain Co | Method for guiding moving body without specifying path |
JP2011031309A (en) * | 2009-07-29 | 2011-02-17 | Toshiba Corp | Method of generating moving body posture and device of generating moving body posture |
CN115229772A (en) * | 2022-08-23 | 2022-10-25 | 深圳市越疆科技有限公司 | Robot, robot control method, robot control device, robot control equipment, storage medium and mechanical arm |
CN115229772B (en) * | 2022-08-23 | 2023-07-18 | 深圳市越疆科技股份有限公司 | Robot, control method, control device, control equipment, storage medium and mechanical arm thereof |
Also Published As
Publication number | Publication date |
---|---|
JP2610443B2 (en) | 1997-05-14 |
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