JPS6467609A - Control method for robot attitude - Google Patents

Control method for robot attitude

Info

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
Application number
JP62224027A
Other languages
Japanese (ja)
Other versions
JP2610443B2 (en
Inventor
Mikine Katsukura
Hideki Yoshizawa
Kazuo Asakawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP62224027A priority Critical patent/JP2610443B2/en
Publication of JPS6467609A publication Critical patent/JPS6467609A/en
Application granted granted Critical
Publication of JP2610443B2 publication Critical patent/JP2610443B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • 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.
JP62224027A 1987-09-09 1987-09-09 Robot attitude control method Expired - Lifetime JP2610443B2 (en)

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)

* Cited by examiner, † Cited by third party
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

Cited By (4)

* Cited by examiner, † Cited by third party
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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