ARTICULATED ROBOT AND METHOD OF CONTROLLING ARTICULATED ROBOT

PROBLEM TO BE SOLVED: To provide an articulated robot capable of suitably executing position control of an arm distal end without increasing storage capacity, and capable of shortening time for deriving track information for the position control.SOLUTION: Control means 4 includes: a track informatio...

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Bibliographic Details
Main Authors MASUI YOJI, SAEKI TORU
Format Patent
LanguageEnglish
Japanese
Published 07.07.2016
Subjects
BASIC ELECTRIC ELEMENTS
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR
ELECTRICITY
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
SEMICONDUCTOR DEVICES
TRANSPORTING
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Summary:PROBLEM TO BE SOLVED: To provide an articulated robot capable of suitably executing position control of an arm distal end without increasing storage capacity, and capable of shortening time for deriving track information for the position control.SOLUTION: Control means 4 includes: a track information storing section 42 which stores track information corresponding to a combination of a start point and an end point; a setting section 41 which sets a current position and a target position of an arm distal end 2b as the start point and the end point; and an operation command generation section 43 which generates an operation command C based on the track information corresponding to a combination of the set start point and the set end point (corresponding track information). If the corresponding track information is not stored in the track information storing section 42 but related track information corresponding to a combination of a start point and an end point having a predetermined relationship with a combination of the set start point and the set end point is stored in the storing section, the operation command generation section 43 generates the operation command C based on the related track information.SELECTED DRAWING: Figure 1 【課題】記憶装置の容量を増加させることなく適切なアーム先端の位置制御を行うことができ、位置制御のための軌道情報の導出時間を短縮することが可能な多関節ロボットを提供する。【解決手段】制御手段４は、始点及び終点の組み合わせに対応する軌道情報を記憶する軌道情報記憶部４２と、アーム先端２ｂの現在位置及び目標位置を始点及び終点として設定する設定部４１と、設定した始点及び終点の組み合わせに対応する軌道情報（＝対応軌道情報）に基づいて動作指令Ｃを生成する動作指令生成部４３とを備え、動作指令生成部４３は、軌道情報記憶部４２に対応軌道情報が記憶されておらず、設定した始点及び終点の組み合わせと所定の関係性を有する始点及び終点の組み合わせに対応する関連軌道情報が記憶されている場合に、関連軌道情報に基づいて動作指令Ｃを生成するように構成した。【選択図】図１
Bibliography:Application Number: JP20140263215