JPH046003B2 - - Google Patents

Info

Publication number
JPH046003B2
JPH046003B2 JP57137224A JP13722482A JPH046003B2 JP H046003 B2 JPH046003 B2 JP H046003B2 JP 57137224 A JP57137224 A JP 57137224A JP 13722482 A JP13722482 A JP 13722482A JP H046003 B2 JPH046003 B2 JP H046003B2
Authority
JP
Japan
Prior art keywords
robot
axis
redundancy
freedom
joint
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.)
Expired - Lifetime
Application number
JP57137224A
Other languages
English (en)
Japanese (ja)
Other versions
JPS5930690A (ja
Inventor
Hisaaki Hirabayashi
Koichi Sugimoto
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.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
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 Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP13722482A priority Critical patent/JPS5930690A/ja
Publication of JPS5930690A publication Critical patent/JPS5930690A/ja
Publication of JPH046003B2 publication Critical patent/JPH046003B2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
JP13722482A 1982-08-09 1982-08-09 冗長度を持つ多関節形ロボツトの制御方法 Granted JPS5930690A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP13722482A JPS5930690A (ja) 1982-08-09 1982-08-09 冗長度を持つ多関節形ロボツトの制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP13722482A JPS5930690A (ja) 1982-08-09 1982-08-09 冗長度を持つ多関節形ロボツトの制御方法

Publications (2)

Publication Number Publication Date
JPS5930690A JPS5930690A (ja) 1984-02-18
JPH046003B2 true JPH046003B2 (enrdf_load_stackoverflow) 1992-02-04

Family

ID=15193676

Family Applications (1)

Application Number Title Priority Date Filing Date
JP13722482A Granted JPS5930690A (ja) 1982-08-09 1982-08-09 冗長度を持つ多関節形ロボツトの制御方法

Country Status (1)

Country Link
JP (1) JPS5930690A (enrdf_load_stackoverflow)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0677205B2 (ja) * 1985-06-03 1994-09-28 株式会社日立製作所 ロボツトの制御方法
JPH0630008B2 (ja) * 1985-09-09 1994-04-20 株式会社日立製作所 ロボツトの制御方法
JP2560212B2 (ja) * 1986-07-25 1996-12-04 工業技術院長 冗長マニピユレ−タのハイブリツド制御装置
JPH01164582A (ja) * 1987-12-17 1989-06-28 Matsushita Electric Ind Co Ltd 多軸ロボットアーム
JP2698660B2 (ja) * 1989-06-12 1998-01-19 株式会社日立製作所 マニピュレータの制御方法及び制御装置並びにマニピュレータ装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5727689A (en) * 1980-07-19 1982-02-15 Shin Meiwa Ind Co Ltd Multi-articulated robot

Also Published As

Publication number Publication date
JPS5930690A (ja) 1984-02-18

Similar Documents

Publication Publication Date Title
CN101195221B (zh) 进行力控制的机器人控制装置
EP0086950B1 (en) Method of controlling an industrial robot
EP0444657B1 (en) Control robot
US20030171847A1 (en) Method of controlling a robot through a singularity
CN110394802B (zh) 一种打磨机器人及位置补偿方法
JPH046003B2 (enrdf_load_stackoverflow)
JP3380327B2 (ja) パラレルリンクマニピュレータのたわみ補正制御方法
US4593366A (en) Method of controlling robot
JPH10128688A (ja) ロボットの非干渉化制御方法
JP2507891B2 (ja) マニピュレ―タのインピ―ダンス制御方式
JPS61201304A (ja) ロボツトの位置制御法
EP3833515A1 (en) Method for estimating a wrench
JP3339642B2 (ja) ロボットの加減速時定数決定方法
JPH0543122B2 (enrdf_load_stackoverflow)
JP4449693B2 (ja) ロボット制御装置およびその制御方法
JPH06332535A (ja) ロボットの制御装置
JPS62199383A (ja) ロボツトの制御方式
CN106826805A (zh) 一种多角度精确控制的机器人手臂
JPS59163609A (ja) ロボツトハンドの径路補間方法
JP2610443B2 (ja) ロボットの姿勢制御方法
JP2576171B2 (ja) 多関節アーム制御装置
KR0155281B1 (ko) 다관절 로보트의 직선보간방법
JPH0429034B2 (enrdf_load_stackoverflow)
JP2615423B2 (ja) マニピュレータの運動特性の評価および作業計画法
JPH0713642A (ja) マニピュレータのコンプライアンス制御装置