JPS6442704A - Method for controlling robot - Google Patents
Method for controlling robotInfo
- 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
Links
Landscapes
- 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.
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)
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 |
-
1987
- 1987-08-11 JP JP19913687A patent/JPH087612B2/en not_active Expired - Lifetime
Cited By (2)
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 |