Title:
CONTROLLER
Document Type and Number:
Japanese Patent JP3532258
Kind Code:
B2
Abstract:
PURPOSE: To avoid the motion range of a manipulator from being limited by retreating the manipulator to an area where no obstacle is in existence actually.
CONSTITUTION: A degree of interference is incorporated in an error function between a set point given in terms of the orthogonal coordinate system and an output of a coordinate conversion block 6, the resulting error function is partially differentiated by a state variable in a rotation coordinate system through the coordinate conversion block 6, an increment of a torque is obtained by the back propagation method by giving the partially differentiated value to a neural network 3, and the torque to be inputted to a manipulator 7 is determined by using the incremented torque, and a degree of interference is set to zero when a joint or a finger tip of the manipulator 7 is in existence at the outside of a polygon and to a value being a square of a shortest distance between the joint or the finger tip and the polygon when the joint or the finger tip is in existence in the inside of the polygon.
Inventors:
Sugimoto, Bunichi
Application Number:
JP22744994A
Publication Date:
May 31, 2004
Filing Date:
August 30, 1994
Export Citation:
Assignee:
KAYABA IND CO LTD
International Classes:
B25J9/10; B25J9/16; G05B13/02; G05B19/18; G05B19/4093; G05B19/4155; G05D3/12; G06F15/18; G06G7/60; G06N3/00; (IPC1-7): G05B19/4155; B25J9/10; G05B19/18
Attorney, Agent or Firm:
嶋 宣之
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