JPS6442704A - Method for controlling robot - Google Patents

Method for controlling robot

Info

Publication number
JPS6442704A
JPS6442704A JP19913687A JP19913687A JPS6442704A JP S6442704 A JPS6442704 A JP S6442704A JP 19913687 A JP19913687 A JP 19913687A JP 19913687 A JP19913687 A JP 19913687A JP S6442704 A JPS6442704 A JP S6442704A
Authority
JP
Japan
Prior art keywords
joint
fingers
attitude
determined
target values
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
JP19913687A
Other languages
Japanese (ja)
Other versions
JPH087612B2 (en
Inventor
Keiji Fujita
Takeshi Shiraishi
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 JP19913687A priority Critical patent/JPH087612B2/en
Publication of JPS6442704A publication Critical patent/JPS6442704A/en
Publication of JPH087612B2 publication Critical patent/JPH087612B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • Numerical Control (AREA)

Abstract

PURPOSE:To eliminate such a troublesome operation as inputting a position of the fourth joint in order to derive each joint angle, by determining the position of the fourth joint from a position of the fingers, an attitude of the figures, and a distance between joints of a robot, which are supplied as target values. CONSTITUTION:A position of a fourth joint is determined from a position of the fingers, an attitude of the fingers, and length between joints of a robot, which are supplied as target values. For instance, the position of the fourth joint is determined so that the sum or a difference of cosine of a second joint and cosine of a sixth joint takes an extreme value. That is since the direction taken by the fourth joint is determined to only one, each joint angle can be derived by only supplying position and the attitude of the fingers, as target values. In such a way, such a troublesome operation as supplying a C point, namely, the position of the fourth joint, at every point at the time of teaching can be eliminated.
JP19913687A 1987-08-11 1987-08-11 Robot control method Expired - Lifetime JPH087612B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP19913687A JPH087612B2 (en) 1987-08-11 1987-08-11 Robot control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP19913687A JPH087612B2 (en) 1987-08-11 1987-08-11 Robot control method

Publications (2)

Publication Number Publication Date
JPS6442704A true JPS6442704A (en) 1989-02-15
JPH087612B2 JPH087612B2 (en) 1996-01-29

Family

ID=16402742

Family Applications (1)

Application Number Title Priority Date Filing Date
JP19913687A Expired - Lifetime JPH087612B2 (en) 1987-08-11 1987-08-11 Robot control method

Country Status (1)

Country Link
JP (1) JPH087612B2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5187418A (en) * 1990-01-23 1993-02-16 Kabushiki Kaisha Yaskawa Denki Seisakusho Method of controlling articulated robot
US5504630A (en) * 1994-01-14 1996-04-02 Ultrapointe Corporation Beam steering apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5187418A (en) * 1990-01-23 1993-02-16 Kabushiki Kaisha Yaskawa Denki Seisakusho Method of controlling articulated robot
US5504630A (en) * 1994-01-14 1996-04-02 Ultrapointe Corporation Beam steering apparatus

Also Published As

Publication number Publication date
JPH087612B2 (en) 1996-01-29

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Legal Events

Date Code Title Description
EXPY Cancellation because of completion of term