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
English (en)
Japanese (ja)
Other versions
JPH0445313B2 (enrdf_load_stackoverflow
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/ja
Publication of JPS6416389A publication Critical patent/JPS6416389A/ja
Publication of JPH0445313B2 publication Critical patent/JPH0445313B2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)
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 (enrdf_load_stackoverflow) 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 (enrdf_load_stackoverflow)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0360991A (ja) * 1989-07-28 1991-03-15 Meidensha Corp ロボットアームの制御方式
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 (ja) * 2008-12-18 2010-07-08 Gm Global Technology Operations Inc 多優先作動空間インピーダンス制御
WO2012033072A1 (ja) * 2010-09-07 2012-03-15 オリンパス株式会社 マスタスレーブマニピュレータ
JP2013166222A (ja) * 2012-02-16 2013-08-29 Seiko Epson Corp ロボット制御装置、ロボット制御方法およびロボット制御プログラムならびにロボットシステム
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 (ja) * 2014-06-18 2016-01-12 株式会社Ihi 加工軌道生成装置と方法
CN111413862A (zh) * 2020-03-31 2020-07-14 涵涡智航科技(玉溪)有限公司 一种无人机摇杆冗余控制系统及其控制方法
CN111687832A (zh) * 2020-04-30 2020-09-22 广西科技大学 空间机械手冗余机械臂逆优先级阻抗控制系统及控制方法
CN111687833A (zh) * 2020-04-30 2020-09-22 广西科技大学 机械手逆优先级阻抗控制系统及控制方法
CN111687834A (zh) * 2020-04-30 2020-09-22 广西科技大学 移动机械手冗余机械臂逆优先级阻抗控制系统及控制方法
WO2025069887A1 (ja) * 2023-09-29 2025-04-03 オムロン株式会社 多関節ロボット、及びモバイルロボット

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009134352A (ja) * 2007-11-28 2009-06-18 Toyota Motor Corp ロボットの動作経路作成装置及びロボットの動作経路作成方法
JP5669590B2 (ja) * 2011-01-20 2015-02-12 オリンパス株式会社 マスタスレーブマニピュレータ及び医療用マスタスレーブマニピュレータ

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62108301A (ja) * 1985-11-07 1987-05-19 Agency Of Ind Science & Technol 遠隔操作ロボツト
JPS63267177A (ja) * 1987-04-25 1988-11-04 富士電機株式会社 マスタスレ−ブマニピユレ−タ

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62108301A (ja) * 1985-11-07 1987-05-19 Agency Of Ind Science & Technol 遠隔操作ロボツト
JPS63267177A (ja) * 1987-04-25 1988-11-04 富士電機株式会社 マスタスレ−ブマニピユレ−タ

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0360991A (ja) * 1989-07-28 1991-03-15 Meidensha Corp ロボットアームの制御方式
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 (ja) * 2008-12-18 2010-07-08 Gm Global Technology Operations Inc 多優先作動空間インピーダンス制御
US8818560B2 (en) 2010-09-07 2014-08-26 Olympus Corporation Master-slave manipulator
WO2012033072A1 (ja) * 2010-09-07 2012-03-15 オリンパス株式会社 マスタスレーブマニピュレータ
JP2012055996A (ja) * 2010-09-07 2012-03-22 Olympus Corp マスタスレーブマニピュレータ
CN103097086A (zh) * 2010-09-07 2013-05-08 奥林巴斯株式会社 主-从机械手
JP2013166222A (ja) * 2012-02-16 2013-08-29 Seiko Epson Corp ロボット制御装置、ロボット制御方法およびロボット制御プログラムならびにロボットシステム
JP2016002627A (ja) * 2014-06-18 2016-01-12 株式会社Ihi 加工軌道生成装置と方法
CN111413862A (zh) * 2020-03-31 2020-07-14 涵涡智航科技(玉溪)有限公司 一种无人机摇杆冗余控制系统及其控制方法
CN111687832A (zh) * 2020-04-30 2020-09-22 广西科技大学 空间机械手冗余机械臂逆优先级阻抗控制系统及控制方法
CN111687833A (zh) * 2020-04-30 2020-09-22 广西科技大学 机械手逆优先级阻抗控制系统及控制方法
CN111687834A (zh) * 2020-04-30 2020-09-22 广西科技大学 移动机械手冗余机械臂逆优先级阻抗控制系统及控制方法
WO2025069887A1 (ja) * 2023-09-29 2025-04-03 オムロン株式会社 多関節ロボット、及びモバイルロボット

Also Published As

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

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Legal Events

Date Code Title Description
EXPY Cancellation because of completion of term