| 摘要 |
An attitude control system for robots with a redundant degree of freedom, used to determine the configuration of a robot with a redundant degree of freedom in real time in accordance with a work target and work environment. The data (Xd, Xs) on a work object and an obstacle are obtained from a visual sensor (Step S1), and a neural network determines an estimated value of an elbow angle ( PHI ) on the basis of the mapping relation between the input data (Xd, Xs) of the work object and obstacle (Step S2). When an estimated value of the elbow angle ( PHI ) is outputted, the angle of each joint of a robot with a redundant degree of freedom is determined by analytical calculations on the basis of the estimated value of the elbow angle ( PHI ) and data (Xd) on the work object (Step S3). The estimation of this elbow angle ( PHI ) and the determination of the configuration of the robot with a redundant degree of freedom can be carried out in real time during a practical operation. Therefore, even with a robot having a redundant degree of freedom, the configuration thereof properly suitable for the work environment can be determined in real time during a practical operation. |
