Title:
TRACK CONTROLLING METHOD OF ROBOT
Document Type and Number:
Japanese Patent JPS59194210
Kind Code:
A
Abstract:
PURPOSE:To facilitate swing motion by representing the revolving center of an articulated robot as a target position vector, a revolving surface as a surface vector, and the initial direction of the arm tip of the robot as a direction vector. CONSTITUTION:A component part 50 to be operated is provided to the arm tip of the articulated robot 10 and this arm tip is put in a rolving motion; the arm tip while facing, for example, the center 51 of revolution move on a revolving track 52 to perform sectional operation. This operation specifies the vector (r) indicating the target position of the arm tip of the robot 10, the direction vector (e) indicating the attitude. The center 51 of the revolution, the surface of the revolution, and the direction of the arm tip are calculated from those vectors (r), (e), and (n), and a CPU calculates the revolving angles of respective joints by denoting the revolving speed of the arm tip of this robot 10 as (w) which revolves while the surface is held in parallel, thereby supplying them to the robot 10 as indication values.
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Inventors:
KAWAKAMI SUSUMU
NAKAMURA YOSHITERU
ARAKI MAKOTO
NAKAMURA YOSHITERU
ARAKI MAKOTO
Application Number:
JP6801683A
Publication Date:
November 05, 1984
Filing Date:
April 18, 1983
Export Citation:
Assignee:
FUJITSU LTD
International Classes:
B25J9/16; G05B19/18; G05B19/41; (IPC1-7): B25J13/00; G05B19/403
Attorney, Agent or Firm:
Minoru Aoyagi