Method for controlling robot

Abstract

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.

Inventors

• 👤 Keiji Fujita
• 👤 Takeshi Shiraishi

Bibliographic Details