JPS6461804A - Deciding system for direction vector of robot - Google Patents

Deciding system for direction vector of robot

Info

Publication number
JPS6461804A
JPS6461804A JP21933187A JP21933187A JPS6461804A JP S6461804 A JPS6461804 A JP S6461804A JP 21933187 A JP21933187 A JP 21933187A JP 21933187 A JP21933187 A JP 21933187A JP S6461804 A JPS6461804 A JP S6461804A
Authority
JP
Japan
Prior art keywords
values
robot
solutions
satisfactory
checking result
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
JP21933187A
Other languages
Japanese (ja)
Other versions
JP2632864B2 (en
Inventor
Mitsuo Kamimura
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.)
Fujitsu Ltd
Original Assignee
Fujitsu 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 Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP62219331A priority Critical patent/JP2632864B2/en
Publication of JPS6461804A publication Critical patent/JPS6461804A/en
Application granted granted Critical
Publication of JP2632864B2 publication Critical patent/JP2632864B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To avoid an inactive state of a robot in a play-back mode by obtaining the solutions from operation of joint angles without limiting the range of the Euler angles and giving the priority orders to those solutions to decide the direction vectors of finger motions. CONSTITUTION:For the attitudes (Euler angles) alphaE, betaE and gammaE at the present position of a robot, the formulas I satisfied with cosbeta=not equal to + or -1 are operated together with the formulas II which have the same values when the sine waveforms advance by a prescribed degree for alpha and gamma. Then the infinite number of solutions are limited down to eight types by calculating two types after defining the values most approximate to the attitude values alphaS, betaS and gammaS obtained before movement to each relevant position as the solutions of higher priority orders. Then the revolving direction of the final stage axis (theta6 axis) is checked when said values are used for driving. If the checking result is satisfactory, the solution having the smaller displacement value is selected. While the second check is carried out with use of the next solution in case said checking result is not satisfactory. Thus the priority orders are set in the order of smaller displacement values together with the satisfactory checking result. In such a way, the direction vectors are decided for the robot.
JP62219331A 1987-09-02 1987-09-02 How to determine direction vector in robot Expired - Fee Related JP2632864B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62219331A JP2632864B2 (en) 1987-09-02 1987-09-02 How to determine direction vector in robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62219331A JP2632864B2 (en) 1987-09-02 1987-09-02 How to determine direction vector in robot

Publications (2)

Publication Number Publication Date
JPS6461804A true JPS6461804A (en) 1989-03-08
JP2632864B2 JP2632864B2 (en) 1997-07-23

Family

ID=16733789

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62219331A Expired - Fee Related JP2632864B2 (en) 1987-09-02 1987-09-02 How to determine direction vector in robot

Country Status (1)

Country Link
JP (1) JP2632864B2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014124735A (en) * 2012-12-27 2014-07-07 Seiko Epson Corp Robot control method, robot control device, program, and robot
JP2015178158A (en) * 2014-03-19 2015-10-08 株式会社デンソーウェーブ Robot control method and robot control device
JP2015178157A (en) * 2014-03-19 2015-10-08 株式会社デンソーウェーブ Robot control method and robot control device
JP2015182147A (en) * 2014-03-20 2015-10-22 株式会社デンソーウェーブ Robot control method and robot control apparatus

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61134807A (en) * 1984-12-06 1986-06-21 Mitsubishi Heavy Ind Ltd Robot arm controlling method

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61134807A (en) * 1984-12-06 1986-06-21 Mitsubishi Heavy Ind Ltd Robot arm controlling method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014124735A (en) * 2012-12-27 2014-07-07 Seiko Epson Corp Robot control method, robot control device, program, and robot
JP2015178158A (en) * 2014-03-19 2015-10-08 株式会社デンソーウェーブ Robot control method and robot control device
JP2015178157A (en) * 2014-03-19 2015-10-08 株式会社デンソーウェーブ Robot control method and robot control device
JP2015182147A (en) * 2014-03-20 2015-10-22 株式会社デンソーウェーブ Robot control method and robot control apparatus

Also Published As

Publication number Publication date
JP2632864B2 (en) 1997-07-23

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Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees