JPS6487173A - Method of positioning joint mechanism - Google Patents
Method of positioning joint mechanismInfo
- Publication number
- JPS6487173A JPS6487173A JP8023688A JP8023688A JPS6487173A JP S6487173 A JPS6487173 A JP S6487173A JP 8023688 A JP8023688 A JP 8023688A JP 8023688 A JP8023688 A JP 8023688A JP S6487173 A JPS6487173 A JP S6487173A
- Authority
- JP
- Japan
- Prior art keywords
- tip
- distance information
- target position
- arm member
- revolute joint
- 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)
- Manipulator (AREA)
Abstract
PURPOSE: To locate the tip of an arm member at the target position certainly and quickly by rotating each revolute joint a certain angle from the tip one by one in accordance with the size of the distance information value between the tip position of the arm member and the target position. CONSTITUTION: A condition is established such that a rotation stop control is applied to revolute joints N1-N4 to which no rotation command is given. Meantime the position information about the tip T of an arm member and the target position information for location are acquired, and the distance information between the tip position and target position A1 is determined, and any arbitrary direction is decided as the rotating direction of revolute joint. To this rotating direction decided, the revolute joint is rotated the specified angle. In case the distance information value is enlarged, the rotating direction is inverted to execute the rotational operation, and in case the distance information value has become small, the rotational operation is executed so that the distance information lessens. This rotational operation is repeated one after another from the revolute joint N4 located at the foremost, and the tip T of the arm member is located in the target position A1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8023688A JPS6487173A (en) | 1988-04-02 | 1988-04-02 | Method of positioning joint mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8023688A JPS6487173A (en) | 1988-04-02 | 1988-04-02 | Method of positioning joint mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6487173A true JPS6487173A (en) | 1989-03-31 |
| JPH0346272B2 JPH0346272B2 (en) | 1991-07-15 |
Family
ID=13712703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8023688A Granted JPS6487173A (en) | 1988-04-02 | 1988-04-02 | Method of positioning joint mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6487173A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5101241A (en) * | 1989-11-20 | 1992-03-31 | Kabushiki Kaisha Toshiba | Telescopic paper guide means movable to selected receiving trays |
| JP2011128114A (en) * | 2009-12-21 | 2011-06-30 | Kawasaki Heavy Ind Ltd | Method, apparatus for measuring tool dimension and robot having the same |
| JP2014139577A (en) * | 2014-03-12 | 2014-07-31 | Kawasaki Heavy Ind Ltd | Method for measuring tool dimension, device for measuring tool dimension and robot having measurement device thereof |
-
1988
- 1988-04-02 JP JP8023688A patent/JPS6487173A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5101241A (en) * | 1989-11-20 | 1992-03-31 | Kabushiki Kaisha Toshiba | Telescopic paper guide means movable to selected receiving trays |
| JP2011128114A (en) * | 2009-12-21 | 2011-06-30 | Kawasaki Heavy Ind Ltd | Method, apparatus for measuring tool dimension and robot having the same |
| JP2014139577A (en) * | 2014-03-12 | 2014-07-31 | Kawasaki Heavy Ind Ltd | Method for measuring tool dimension, device for measuring tool dimension and robot having measurement device thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0346272B2 (en) | 1991-07-15 |
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