发明名称 |
CONTROL DEVICE FOR ROBOT IN INERTIAL COORDINATE SYSTEM |
摘要 |
The present invention discloses a control device whereby a means for detecting a velocity or an acceleration is provided in a main robot body, a velocity or acceleration expressed in a robot coordinate system is detected from the detection means, and an output from the detection means is added to a desired value that is expressed in an absolute coordinate system that is an inertial reference frame of an arm of the robot. In this way, the robot arm can be made to follow any desired path, by using desired positions in the absolute coordinate system that is an inertial coordinate system.
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申请公布号 |
CA2045438(C) |
申请公布日期 |
1996.10.08 |
申请号 |
CA19912045438 |
申请日期 |
1991.06.25 |
申请人 |
KAWASAKI JUKOGYO KABUSHIKI KAISHA |
发明人 |
IOI, KIYOSHI;NORO, OSAMU;MIKI, OSAMU;KATSURAGAWA, TAKASHI |
分类号 |
B25J9/10;B25J9/16;B25J9/18;B25J13/08;G05B19/18;G05B19/404;G05D3/12;(IPC1-7):G05D3/20 |
主分类号 |
B25J9/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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