JPS57191708A - Attitude controlling system - Google Patents

Attitude controlling system

Info

Publication number
JPS57191708A
JPS57191708A JP56077286A JP7728681A JPS57191708A JP S57191708 A JPS57191708 A JP S57191708A JP 56077286 A JP56077286 A JP 56077286A JP 7728681 A JP7728681 A JP 7728681A JP S57191708 A JPS57191708 A JP S57191708A
Authority
JP
Japan
Prior art keywords
rotated
arm
driving
shafts
manipulator
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.)
Pending
Application number
JP56077286A
Other languages
Japanese (ja)
Inventor
Mikio Ide
Tadakiyo Morimoto
Takeo Omichi
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.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries 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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP56077286A priority Critical patent/JPS57191708A/en
Publication of JPS57191708A publication Critical patent/JPS57191708A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE:To move a flat table at the tip of an arm such as a manipulator in parallel with a plane in the space, by adopting a driving coordinate system, by which a prescribed relational expression between driving shafts is simplified, to facilitate the control. CONSTITUTION:A base 1 is fixed on the floor, and a table 2 is rotated through rotation shafts (gamma) 4-1 and 4-2. A frame 3 is rotated through rotation shafts (delta) 5-1 and 5-2, and a manipulator which is not shown in figure is put on the frame 3, and a vector ez, which is not shown in figure, perpendicular to unit vectors ex and ey of the XYZ orthogonal coordinate system can face to an optional direction in the space. An arm side member 9 is fixed to the arm of the manipulator; and when driving shafts (beta) 10-1 and 10-2 are rotated, a rotating member 11 is rotated, and a driving shaft (alpha) 12 is rotated perpendicuarly to the member 11. Positions of rotation shafts gamma and delta and driving shafts beta and alpha are detected and controlled to move the flat table at the tip of the arm in parallel with an optional plane in the space while keeping the direction constant.
JP56077286A 1981-05-21 1981-05-21 Attitude controlling system Pending JPS57191708A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP56077286A JPS57191708A (en) 1981-05-21 1981-05-21 Attitude controlling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP56077286A JPS57191708A (en) 1981-05-21 1981-05-21 Attitude controlling system

Publications (1)

Publication Number Publication Date
JPS57191708A true JPS57191708A (en) 1982-11-25

Family

ID=13629620

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56077286A Pending JPS57191708A (en) 1981-05-21 1981-05-21 Attitude controlling system

Country Status (1)

Country Link
JP (1) JPS57191708A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62254206A (en) * 1986-04-28 1987-11-06 Fuji Electric Co Ltd Deciding device for plane direction
CN104760695A (en) * 2015-03-23 2015-07-08 松翰科技(深圳)有限公司 Method for controlling quadrotor aircraft by vector rotation method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62254206A (en) * 1986-04-28 1987-11-06 Fuji Electric Co Ltd Deciding device for plane direction
CN104760695A (en) * 2015-03-23 2015-07-08 松翰科技(深圳)有限公司 Method for controlling quadrotor aircraft by vector rotation method

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