JPS6416389A - Control system of multi-joint type arm robot having redundancy - Google Patents
Control system of multi-joint type arm robot having redundancyInfo
- 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
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.
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)
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)
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)
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 |
-
1987
- 1987-07-11 JP JP17207087A patent/JPS6416389A/en active Granted
Patent Citations (2)
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)
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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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EXPY | Cancellation because of completion of term |