JPS6416389A - Control system of multi-joint type arm robot having redundancy - Google Patents

Control system of multi-joint type arm robot having redundancy

Info

Publication number
JPS6416389A
JPS6416389A JP17207087A JP17207087A JPS6416389A JP S6416389 A JPS6416389 A JP S6416389A JP 17207087 A JP17207087 A JP 17207087A JP 17207087 A JP17207087 A JP 17207087A JP S6416389 A JPS6416389 A JP S6416389A
Authority
JP
Japan
Prior art keywords
shaft
redundancy
command speed
outputs
arm
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
JP17207087A
Other languages
Japanese (ja)
Other versions
JPH0445313B2 (en
Inventor
Yujiro Shimizu
Shigetaka Hosaka
Tetsuji Hayashi
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.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
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 Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP17207087A priority Critical patent/JPS6416389A/en
Publication of JPS6416389A publication Critical patent/JPS6416389A/en
Publication of JPH0445313B2 publication Critical patent/JPH0445313B2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: To effectively draw out high potential performance of an arm with redundancy by determining a redundant shaft to be fixed, and fixing freedom of a redundancy part to reconstruct a virtual six-freedom arm. CONSTITUTION: A redundant shaft discriminator 10 inputs hand command speed and each joint angle and outputs a shaft number signal (n) of a redundant shaft fixed so as to be advantageous to the work contents of a hand by operation. A failure diagnostic device 40 outputs a failure shaft number signal (l), and a shaft selector 30 outputs a shaft number signal (m) of a shaft unwanted to act by switch operation. A reconstructing element 20 fixes freedom constitution of an arm with redundancy from these shaft number signals l, m, n in the order of high priority to virtually constitute a six-freedom arm and outputs its shaft number signal to a command speed converter 400. On the basis of this, the command speed converter 400 converts hand command speed into a command speed of each shaft to command to servo mechanism 500 of each shaft. With this constitution, the extent of an action range can be effectively drawn out according to the work contents.
JP17207087A 1987-07-11 1987-07-11 Control system of multi-joint type arm robot having redundancy Granted JPS6416389A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP17207087A JPS6416389A (en) 1987-07-11 1987-07-11 Control system of multi-joint type arm robot having redundancy

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP17207087A JPS6416389A (en) 1987-07-11 1987-07-11 Control system of multi-joint type arm robot having redundancy

Publications (2)

Publication Number Publication Date
JPS6416389A true JPS6416389A (en) 1989-01-19
JPH0445313B2 JPH0445313B2 (en) 1992-07-24

Family

ID=15934981

Family Applications (1)

Application Number Title Priority Date Filing Date
JP17207087A Granted JPS6416389A (en) 1987-07-11 1987-07-11 Control system of multi-joint type arm robot having redundancy

Country Status (1)

Country Link
JP (1) JPS6416389A (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0360991A (en) * 1989-07-28 1991-03-15 Meidensha Corp Control system for robot arm
US5169535A (en) * 1989-09-22 1992-12-08 Kurita Water Industries Ltd. Method of removing endotoxin
US5187418A (en) * 1990-01-23 1993-02-16 Kabushiki Kaisha Yaskawa Denki Seisakusho Method of controlling articulated robot
US6132610A (en) * 1996-09-19 2000-10-17 Kaneka Corporation Endotoxin adsorption system
JP2010149275A (en) * 2008-12-18 2010-07-08 Gm Global Technology Operations Inc Multiple priority operational space impedance control
WO2012033072A1 (en) * 2010-09-07 2012-03-15 オリンパス株式会社 Master-slave manipulator
JP2013166222A (en) * 2012-02-16 2013-08-29 Seiko Epson Corp Robot control device, robot control method, robot control program, and robot system
US8785141B2 (en) 2000-08-25 2014-07-22 Kaneka Corporation Bacterial toxin adsorbing material, method of removing the toxin by adsorbing, and an adsorber formed by filling the adsorbing material therein
JP2016002627A (en) * 2014-06-18 2016-01-12 株式会社Ihi Working trajectory generation apparatus and method
CN111413862A (en) * 2020-03-31 2020-07-14 涵涡智航科技(玉溪)有限公司 Unmanned aerial vehicle rocker redundancy control system and control method thereof
CN111687833A (en) * 2020-04-30 2020-09-22 广西科技大学 Manipulator inverse priority impedance control system and control method
CN111687834A (en) * 2020-04-30 2020-09-22 广西科技大学 Reverse priority impedance control system and method for redundant mechanical arm of mobile manipulator
CN111687832A (en) * 2020-04-30 2020-09-22 广西科技大学 Reverse priority impedance control system and method for redundant manipulator of space manipulator

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009134352A (en) * 2007-11-28 2009-06-18 Toyota Motor Corp Robot motion path creating device, and robot motion path creating method
JP5669590B2 (en) 2011-01-20 2015-02-12 オリンパス株式会社 Master-slave manipulator and medical master-slave manipulator

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62108301A (en) * 1985-11-07 1987-05-19 Agency Of Ind Science & Technol Remote control robot
JPS63267177A (en) * 1987-04-25 1988-11-04 富士電機株式会社 Master/slave manipulator

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62108301A (en) * 1985-11-07 1987-05-19 Agency Of Ind Science & Technol Remote control robot
JPS63267177A (en) * 1987-04-25 1988-11-04 富士電機株式会社 Master/slave manipulator

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0360991A (en) * 1989-07-28 1991-03-15 Meidensha Corp Control system for robot arm
US5169535A (en) * 1989-09-22 1992-12-08 Kurita Water Industries Ltd. Method of removing endotoxin
US5187418A (en) * 1990-01-23 1993-02-16 Kabushiki Kaisha Yaskawa Denki Seisakusho Method of controlling articulated robot
US6132610A (en) * 1996-09-19 2000-10-17 Kaneka Corporation Endotoxin adsorption system
US8785141B2 (en) 2000-08-25 2014-07-22 Kaneka Corporation Bacterial toxin adsorbing material, method of removing the toxin by adsorbing, and an adsorber formed by filling the adsorbing material therein
JP2010149275A (en) * 2008-12-18 2010-07-08 Gm Global Technology Operations Inc Multiple priority operational space impedance control
US8818560B2 (en) 2010-09-07 2014-08-26 Olympus Corporation Master-slave manipulator
WO2012033072A1 (en) * 2010-09-07 2012-03-15 オリンパス株式会社 Master-slave manipulator
JP2012055996A (en) * 2010-09-07 2012-03-22 Olympus Corp Master-slave manipulator
CN103097086A (en) * 2010-09-07 2013-05-08 奥林巴斯株式会社 Master-slave manipulator
JP2013166222A (en) * 2012-02-16 2013-08-29 Seiko Epson Corp Robot control device, robot control method, robot control program, and robot system
JP2016002627A (en) * 2014-06-18 2016-01-12 株式会社Ihi Working trajectory generation apparatus and method
CN111413862A (en) * 2020-03-31 2020-07-14 涵涡智航科技(玉溪)有限公司 Unmanned aerial vehicle rocker redundancy control system and control method thereof
CN111687833A (en) * 2020-04-30 2020-09-22 广西科技大学 Manipulator inverse priority impedance control system and control method
CN111687834A (en) * 2020-04-30 2020-09-22 广西科技大学 Reverse priority impedance control system and method for redundant mechanical arm of mobile manipulator
CN111687832A (en) * 2020-04-30 2020-09-22 广西科技大学 Reverse priority impedance control system and method for redundant manipulator of space manipulator

Also Published As

Publication number Publication date
JPH0445313B2 (en) 1992-07-24

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