JP2008036742A5 - - Google Patents

Download PDF

Info

Publication number
JP2008036742A5
JP2008036742A5 JP2006212104A JP2006212104A JP2008036742A5 JP 2008036742 A5 JP2008036742 A5 JP 2008036742A5 JP 2006212104 A JP2006212104 A JP 2006212104A JP 2006212104 A JP2006212104 A JP 2006212104A JP 2008036742 A5 JP2008036742 A5 JP 2008036742A5
Authority
JP
Japan
Prior art keywords
hand placement
error
calculated
weighting factor
magnitude
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
JP2006212104A
Other languages
Japanese (ja)
Other versions
JP5011525B2 (en
JP2008036742A (en
Filing date
Publication date
Application filed filed Critical
Priority to JP2006212104A priority Critical patent/JP5011525B2/en
Priority claimed from JP2006212104A external-priority patent/JP5011525B2/en
Publication of JP2008036742A publication Critical patent/JP2008036742A/en
Publication of JP2008036742A5 publication Critical patent/JP2008036742A5/ja
Application granted granted Critical
Publication of JP5011525B2 publication Critical patent/JP5011525B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Claims (9)

６自由度の多関節ロボットアームと、前記多関節ロボットアームを制御するためのコンピュータ装置を備えるロボット・システムであって、前記コンピュータ装置は、
前記多関節ロボットアームの手先配置を与える変換行列のうち前記手先配置の並進位置および姿勢を与える２つの部分行列の逆行列をそれぞれ計算する逆行列計算手段と、
前記部分行列の逆行列を使用して計算された前記手先配置と目標手先配置との誤差を計算させる誤差計算手段と、
前記誤差計算手段が計算した誤差の大きさに対応して計算され、前記誤差に適用する重み係数を計算する重み係数計算手段と、
前記重み係数を、計算された前記手先配置に適用して前記手先配置を更新計算し、更新された前記手先配置と前記目標手先配置との間の前記誤差の大きさが設定値以下となるまで更新された前記手先配置を与える関節の回転角を修正する手先配置更新手段と、
更新された前記手先配置と前記目標手先配置との間の前記誤差の大きさが設定値以下となったことに応答して前記手先配置を前記多関節ロボットアームの制御データとして伝送する伝送手段と
を備える、ロボット・システム。 A robot system comprising a 6-degree-of-freedom multi-joint robot arm and a computer device for controlling the multi-joint robot arm, the computer device comprising:
Inverse matrix calculating means for respectively calculating inverse matrices of two sub-matrices giving the translation position and posture of the hand placement of the transformation matrix giving the hand placement of the articulated robot arm;
Error calculating means for calculating an error between the hand placement calculated using the inverse matrix of the submatrix and the target hand placement;
A weighting factor calculation unit that calculates a weighting factor to be applied to the error, which is calculated corresponding to the magnitude of the error calculated by the error calculation unit;
Applying the weighting factor to the calculated hand placement and updating the hand placement until the magnitude of the error between the updated hand placement and the target hand placement is less than or equal to a set value Hand placement updating means for correcting the rotation angle of the joint that gives the updated hand placement;
Transmission means for transmitting the hand placement as control data of the articulated robot arm in response to the magnitude of the error between the updated hand placement and the target hand placement being equal to or less than a set value; A robot system comprising: 前記重み係数計算手段は、前記誤差の絶対値の大きさが前記手先配置更新手段の反復回数に対して減少する重み力学系を使用し、前記反復回数の増加に応答して前記誤差の絶対値を減少させる処理を実行する。請求項１に記載のロボット・システム。   The weighting factor calculating means uses a weight dynamic system in which the magnitude of the absolute value of the error decreases with respect to the number of iterations of the hand placement updating means, and in response to the increase in the number of iterations, the absolute value of the error Execute the process to decrease The robot system according to claim 1. 前記ロボット・システムは、手先側に配設された関節との間の内積を評価値として、前記手先配置を与える数値解の存在を予測する、請求項１または２のいずれか１項に記載のロボット・システム。   3. The robot system according to claim 1, wherein the robot system predicts the existence of a numerical solution that gives the hand placement by using an inner product with a joint arranged on the hand side as an evaluation value. 4. Robot system. 前記重み係数を格納する不揮発性の記憶手段を備える、請求項１〜３のいずれか１項に記載のロボット・システム。   The robot system according to claim 1, further comprising a nonvolatile storage unit that stores the weight coefficient. ６自由度の多関節ロボットアームを備えるロボットとコンピュータ装置を含むロボット・システムにおけるロボット制御方法であって、前記コンピュータ装置に対して、
前記多関節ロボットアームの手先配置を与える変換行列のうち前記手先配置の並進位置および姿勢を与える２つの部分行列の逆行列をそれぞれ計算する逆行列計算手段と、
前記部分行列の逆行列を使用して計算された前記手先配置と目標手先配置との誤差を計算させる誤差計算手段と、
前記誤差計算手段が計算した誤差の大きさに対応して計算され、前記誤差に適用する重み係数を計算する重み係数計算手段と、
前記重み係数計算手段により計算された前記重み係数を計算された前記手先配置に適用して前記手先配置を更新計算し、更新された前記手先配置と前記目標手先配置との間の前記誤差の大きさが設定値以下となるまで更新された前記手先配置を与える関節の回転角を修正する手先配置更新手段と、
更新された前記手先配置と前記目標手先配置との間の前記誤差の大きさが設定値以下となったことに応答して前記手先配置を前記多関節ロボットアームの制御データとして伝送する伝送手段と
をコンピュータ装置に実現する、方法。 A robot control method in a robot system including a robot having a multi-joint robot arm with six degrees of freedom and a computer device,
Inverse matrix calculating means for respectively calculating inverse matrices of two sub-matrices giving the translation position and posture of the hand placement of the transformation matrix giving the hand placement of the articulated robot arm;
Error calculating means for calculating an error between the hand placement calculated using the inverse matrix of the submatrix and the target hand placement;
A weighting factor calculation unit that calculates a weighting factor to be applied to the error, which is calculated corresponding to the magnitude of the error calculated by the error calculation unit;
Applying the weighting factor calculated by the weighting factor calculating means to the calculated hand placement to update the hand placement and to calculate the magnitude of the error between the updated hand placement and the target hand placement A hand placement updating means for correcting the rotation angle of the joint that gives the hand placement updated until the length becomes equal to or less than a set value;
Transmission means for transmitting the hand placement as control data of the articulated robot arm in response to the magnitude of the error between the updated hand placement and the target hand placement being equal to or less than a set value; Is realized in a computer device. 前記重み係数計算手段は、前記誤差の絶対値の大きさが前記手先配置更新手段の反復回数に対して減少する重み力学系を使用し、前記反復回数の増加に応答して前記誤差の絶対値を減少させる処理を実行する、請求項５に記載の方法。 The weighting factor calculating means uses a weight dynamic system in which the magnitude of the absolute value of the error decreases with respect to the number of iterations of the hand placement updating means, and in response to the increase in the number of iterations, the absolute value of the error to run a process of reducing the method according to claim 5. 前記ロボット・システムは、手先側に配設された関節との間の内積を評価値として、前記手先配置を与える数値解の存在を予測する、請求項５または６のいずれかに記載の方法。   The method according to claim 5, wherein the robot system predicts the existence of a numerical solution that gives the hand placement by using an inner product with a joint arranged on the hand side as an evaluation value. 前記重み係数を格納する不揮発性の記憶手段から当該処理前に計算した重み係数を読み出して、前記重み係数の初期設定処理を実行する、請求項５または６に記載の方法。   The method according to claim 5 or 6, wherein a weighting coefficient calculated before the process is read from a nonvolatile storage unit that stores the weighting coefficient, and an initial setting process of the weighting coefficient is executed. 請求項５〜８のいずれか１項に記載のロボット制御方法を実行するためのコンピュータ装置実行可能なプログラム。   A computer-executable program for executing the robot control method according to any one of claims 5 to 8.
JP2006212104A 2006-08-03 2006-08-03 Inverse kinematics of 6-degree-of-freedom robot arm by sequential search method, and robot system, control method, and program using the same Active JP5011525B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2006212104A JP5011525B2 (en) 2006-08-03 2006-08-03 Inverse kinematics of 6-degree-of-freedom robot arm by sequential search method, and robot system, control method, and program using the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006212104A JP5011525B2 (en) 2006-08-03 2006-08-03 Inverse kinematics of 6-degree-of-freedom robot arm by sequential search method, and robot system, control method, and program using the same

Publications (3)

Publication Number Publication Date
JP2008036742A JP2008036742A (en) 2008-02-21
JP2008036742A5 true JP2008036742A5 (en) 2009-08-20
JP5011525B2 JP5011525B2 (en) 2012-08-29

Family

ID=39172346

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2006212104A Active JP5011525B2 (en) 2006-08-03 2006-08-03 Inverse kinematics of 6-degree-of-freedom robot arm by sequential search method, and robot system, control method, and program using the same

Country Status (1)

Country Link
JP (1) JP5011525B2 (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101086361B1 (en) 2009-03-03 2011-11-23 삼성중공업 주식회사 robot pose controlling method and apparatus thereof
FR2960074B1 (en) * 2010-05-14 2012-06-15 Staubli Sa Ets METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL
JP5726052B2 (en) * 2011-03-08 2015-05-27 株式会社神戸製鋼所 Control device, control method and control program for articulated robot
JP5730179B2 (en) 2011-03-08 2015-06-03 株式会社神戸製鋼所 Control device, control method and control program for articulated robot
CN105234930B (en) * 2015-10-15 2017-05-24 哈尔滨工程大学 Control method of motion of redundant mechanical arm based on configuration plane
CN107553496B (en) * 2017-09-29 2020-09-22 南京阿凡达机器人科技有限公司 Method and device for determining and correcting errors of inverse kinematics solving method of mechanical arm
JP6897520B2 (en) * 2017-11-24 2021-06-30 株式会社デンソーウェーブ Robot control device and robot inverse transformation processing method
JP2019177436A (en) * 2018-03-30 2019-10-17 日本電産株式会社 Robot control device, method for determining angle of joint of robot, and program
CN110641738B (en) * 2019-10-15 2022-08-09 大连理工大学 Trajectory tracking control method of space five-degree-of-freedom free flying mechanical arm
CN112936273B (en) * 2021-02-04 2023-07-25 清华大学深圳国际研究生院 Speed stage kinematics modeling method for rope-driven flexible mechanical arm
CN113127989B (en) * 2021-04-22 2024-02-06 中国科学院沈阳自动化研究所 Six-degree-of-freedom mechanical arm inverse kinematics analytic solution control method
CN113601499B (en) * 2021-07-12 2023-05-23 西北工业大学 Inverse kinematics method for space manipulator under single joint locking failure
CN114055449B (en) * 2021-11-18 2023-03-28 中国科学院自动化研究所 Method and device for controlling tail end following motion of high-redundancy snakelike mechanical arm
CN114161399B (en) * 2021-12-20 2023-08-18 大连理工大学 Real-time tracking control method for six-degree-of-freedom mechanical arm Cartesian space moving target
CN114102609B (en) * 2021-12-27 2022-07-22 仲恺农业工程学院 Newton iteration method-based inverse kinematics calculation method of banana picking robot
CN114434445A (en) * 2022-01-26 2022-05-06 深圳市越疆科技有限公司 Mechanical arm installation angle calibration method and device, installation control device and medium
CN114888793B (en) * 2022-04-21 2023-08-04 同济大学 Double-layer cooperative control method for multi-arm double-beam laser welding robot
WO2024070568A1 (en) * 2022-09-28 2024-04-04 ローレルバンクマシン株式会社 Method for controlling articulated robot, robot system, program, and method for manufacturing article

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0820894B2 (en) * 1987-07-01 1996-03-04 株式会社日立製作所 Industrial robot operation control method
JPH07146703A (en) * 1993-11-22 1995-06-06 Japan Atom Energy Res Inst Forward kinematic analysis method and reverse kinematic analysis method for articulated link mechanism

Similar Documents

Publication Publication Date Title
JP2008036742A5 (en)
JP5011525B2 (en) Inverse kinematics of 6-degree-of-freedom robot arm by sequential search method, and robot system, control method, and program using the same
US9517562B2 (en) Robot controller, robot system, robot control method
JP6312264B2 (en) Constraints on robot manipulators with redundant degrees of freedom
WO2018107851A1 (en) Method and device for controlling redundant robot arm
JP5281377B2 (en) Robot equipment
JP3643867B2 (en) Manipulator control method
US8271137B2 (en) Robot and method of controlling the same
Chen et al. Design and modeling of a soft robotic surface with hyperelastic material
JP2016198828A5 (en)
JP6044511B2 (en) Robot control method and robot system
Morlock et al. Real-time trajectory tracking control of a parallel robot with flexible links
JP2010137298A5 (en)
CN108555914B (en) DNN neural network self-adaptive control method based on tendon-driven dexterous hand
JP2016028842A (en) Actuator system
KR20200084501A (en) Apparatus for controlling robot and method thereof
Dehghani et al. Compact modeling of spatial continuum robotic arms towards real-time control
Mazare et al. Adaptive variable impedance control for a modular soft robot manipulator in configuration space
JP2014014902A5 (en) Robot system
Zhang et al. Time delay compensation of a robotic arm based on multiple sensors for indirect teaching
JP5752565B2 (en) Robot arm
Djeffal et al. Optimized computer torque control and dynamic model of a spatial single section continuum robot
US8670869B2 (en) Robot controller
Verdonck Experimental robot and payload identification with application to dynamic trajectory compensation.
Yang et al. Continuous fixed-time synchronization control for uncertain industrial master-slave robotics system with improved transparency