EP0130570A2
Expired / Lapsed
EP
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Method and apparatus for controlling a robot hand along a predetermined path
Assignee: Hitachi Ltd
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Filing: 1984-06-28
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Granted: —
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Expires: 2004-06-28
Abstract
Abstract A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of a position information and a velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positonal deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.
Inventors
- 👤 Shiyuki Sakaue
- 👤 Koichi Sugimoto
- 👤 Shinichi Arai
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-28 15:18
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G05B19/232; G05B19/42; G05B2219/00; G05B2219/30; G05B2219/33; G05B2219/33119; G05B2219/33263; G05B2219/41; G05B2219/41177; G05B2219/45; G05B2219/45083
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
69 words
A method of controlling a robot hand along a predetermined path at a predetermined speed, comprising the steps of : obtaining a positional information and a speed information of the robot hand ; - determining a command speed value of the robot hand on the basis of the positional information and the speed information ; and providing the command speed value to a drive system of the robot hand.
Claim 2
Independent Claim
69 words
A method of controlling a robot hand along a predetermined path at a predetermined speed, comprising the steps of : obtaining a positional information and a speed information of the robot hand ; - determining a command speed value of the robot hand on the basis of the positional information and the speed information ; and providing the command speed value to a drive system of the robot hand.
Claim 3
Dependent Claim
85 words
The method of claim 1, wherein the command speed value is determined on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling paint.
Claim 4
Dependent Claim
37 words
The method of claim 2, wherein optimum values of proportional coefficients used for the sum are obtained on the basis of data output from a meaus for detecting the position of an actuator for the robot hand.
Claim 5
Independent Claim
115 words
A method of controlling a robot hand along a predetertined path at a predetermined speed, comprising the steps of : calculating a path direction data from a start position data and atarget position data stored in a memory ; detecting a pair displacement of the robot hand by a detector provided on a robot ; converting the detected pair displacement to an acfual position data in a rectangular coordinate system ; determining a command speed value of the robot hand for a subsequent sampling operation by using the path direction data, the target position data and the actual position data ; and providing the command speed value to a drive system of the robot hand.
Claim 6
Independent Claim
115 words
A method of controlling a robot hand along a predetertined path at a predetermined speed, comprising the steps of : calculating a path direction data from a start position data and atarget position data stored in a memory ; detecting a pair displacement of the robot hand by a detector provided on a robot ; converting the detected pair displacement to an acfual position data in a rectangular coordinate system ; determining a command speed value of the robot hand for a subsequent sampling operation by using the path direction data, the target position data and the actual position data ; and providing the command speed value to a drive system of the robot hand.
Claim 7
Dependent Claim
85 words
The method of claim 4, wherein the command speed value is determined on the bais of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point.
Claim 8
Dependent Claim
92 words
The method of claim 4, wherein the command speed value is determined on the basis of the equation wherein u is the command speed value, v is a speed of the robot hand at a sampling timet, a is the path direction data, e is a speed deviation, T is a sampling period, Σ e represents accumulated positional deviation during the sampling operations carried out from a start point Σe v accumulated speed deviation during sampling operations carried out from the initial sampling point, and k l -k 4 are proportional coefficients.
Claim 9
Dependent Claim
22 words
The method of claim 6, wherein the proportional coeffients k l -k 4 are obtained from data on detected values of positions.
Claim 10
Independent Claim
135 words
An apparatus for controlling a robot hand along a predetermined path at a predetermined speed, comprising: memory means (13) for storing a start position data and a target position data of the robot hand; compute means (11, 12, 13, 14) for computing a path direction data from the start position data and the target position data stored in said memory means; convert means (11,14) for converting a pair displacement of the robot hand to an actual position data in a rectangular coordinate system; calculate means (14, 15) for calculating an equation by using the path direction data, the target position data and the actual position data to determine a command speed value for a subsequent sampling operation; and means (16) for providing the command speed value to a driving system (19) of the robot hand.
Claim 11
Independent Claim
135 words
An apparatus for controlling a robot hand along a predetermined path at a predetermined speed, comprising: memory means (13) for storing a start position data and a target position data of the robot hand; compute means (11, 12, 13, 14) for computing a path direction data from the start position data and the target position data stored in said memory means; convert means (11,14) for converting a pair displacement of the robot hand to an actual position data in a rectangular coordinate system; calculate means (14, 15) for calculating an equation by using the path direction data, the target position data and the actual position data to determine a command speed value for a subsequent sampling operation; and means (16) for providing the command speed value to a driving system (19) of the robot hand.
Claim 12
Dependent Claim
89 words
The apparatus of claim 8, wherein, in said calculate means, the command speed value is determined on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point.
Claim 13
Dependent Claim
88 words
The apparatus of claim 8, wherein, in said calculate means, the equation is wherein u is the command speed value, v t is a speed of the robot hand at a sampling timet, a is the path direction data, e is a speed deviation, T is a sampling period, Σe represents accumulated positional deviation during the sampling operations carried out from a start point Σe v accumulated speed deviation during the sampling operations carried out from the initial sampling point, and k 1 ~k 4 are proportional coefficients.
References Cited (Backward Citations)
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