INVERSE KINEMATIC SOLUTION FOR MULTI-JOINT LINK MECHANISM, AND TEACHING-DATA CREATING DEVICE USING THE INVERSE KINEMATIC SOLUTION

摘要

This multi-joint link mechanism has a driving joint driven by a driving source and a follower joint driven by the movement of the driving joint. First, an open-loop link mechanism that allows the position and pose of a workpiece to be varied is selected from a multi-joint link mechanism. The amount of movement/rotation of each of the joints constituting the selected open-loop link mechanism is derived. The derived amounts of movement/rotation of each of the joints of the open-loop link mechanism are set as fixed values to derive the amount of movement/rotation of each of the joints of a closed-loop link mechanism composed of non-selected joints and at least some of the joints of the open-loop link mechanism.

主权项

1. An inverse kinematic solution for a multi-joint link mechanism, which determines, in a robot system including an articulated robot and a multi-joint link mechanism provided as a peripheral device of the robot, amounts of movement/rotation of joints in the multi-joint link mechanism to move an object disposed in the multi-joint link mechanism to a desired position and pose,
wherein the multi-joint link mechanism includes a driving joint driven by a driving source and a follower joint driven by movement of the driving joint, and amounts of movement/rotation of the driving joint and the follower joint are determined by performing the steps (i) to (iii) of: (i) selecting, from the multi-joint link mechanism, an open-loop link mechanism formed by a minimum link structure for changing a position and pose of the object; (ii) deriving amounts of movement/rotation of joints that constitute the open-loop link mechanism selected in the step (i) from the desired position and pose of the object placed in the multi-joint link mechanism; and (iii) setting the amounts of movement/rotation of the joints in the open-loop link mechanism derived in the step (ii) as fixed values to derive amounts of movement/rotation of joints in a closed-loop link mechanism constituted by at least one of the joints in the open-loop link mechanism and a non-selected joint.