JPS6442706A - Track generating method - Google Patents
Track generating methodInfo
- Publication number
- JPS6442706A JPS6442706A JP19918387A JP19918387A JPS6442706A JP S6442706 A JPS6442706 A JP S6442706A JP 19918387 A JP19918387 A JP 19918387A JP 19918387 A JP19918387 A JP 19918387A JP S6442706 A JPS6442706 A JP S6442706A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- robot
- positioning
- executed
- still
- 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
Links
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
PURPOSE:To eliminate the need of stopping once before positioning to an object, by positioning a robot against the object, while inputting the information from a visual sense derive in the course of operation of the robot. CONSTITUTION:Deviations of a position and a speed of an object in a work coordinate, and target values of the present position and speed of a robot are derived, respectively, and that which has multiplied them by a suitable coefficient and has added them is set as an acceleration target value at the next time, and by integrating it, the target values of the speed and the position are obtained. In such a way, positioning to a still object can be executed without stopping on the way, the follow-up to a moving object can be executed, and also, the joint tracking (the object is still but the target value is moving) can be realized.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19918387A JPS6442706A (en) | 1987-08-11 | 1987-08-11 | Track generating method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19918387A JPS6442706A (en) | 1987-08-11 | 1987-08-11 | Track generating method |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6442706A true JPS6442706A (en) | 1989-02-15 |
Family
ID=16403520
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP19918387A Pending JPS6442706A (en) | 1987-08-11 | 1987-08-11 | Track generating method |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6442706A (en) |
-
1987
- 1987-08-11 JP JP19918387A patent/JPS6442706A/en active Pending
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