| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a robot arm which stably operates while allowing a position and a posture of a designated portion to follow a target trajectory, even when it is supported by an unstable pedestal. <P>SOLUTION: A first command valueΔθ<SB POS="POST">1</SB>is calculated by using a pseudo inverse matrix J<SB POS="POST">H</SB><SP POS="POST">#</SP>of a first Jacobian matrix J<SB POS="POST">H</SB>indicating minimal changeΔQ<SB POS="POST">H</SB>in hand tip position posture Q<SB POS="POST">H</SB>with respect to minimal angular changeΔθof a plurality of joint mechanisms. A second command valueΔθ<SB POS="POST">2</SB>is calculated by using a pseudo inverse matrix J<SB POS="POST">gc</SB><SP POS="POST">#</SP>of a second Jacobian matrix J<SB POS="POST">gc</SB>indicating minimal changeΔP<SB POS="POST">gc</SB>in position P<SB POS="POST">gc</SB>of the center of gravity of a whole robot arm 1 with respect to minimal angular changeΔθof the plurality of joint mechanisms, and a null-space (E-J<SB POS="POST">H</SB><SP POS="POST">#</SP>J<SB POS="POST">H</SB>) of the first Jacobian matrix J<SB POS="POST">H</SB>. A sum or the like of the first command valueΔθ<SB POS="POST">1</SB>and the second command valueΔθ<SB POS="POST">2</SB>is calculated as a command valueΔθto be followed by the plurality of joint mechanisms. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
