JOINT ROBOT ARM BASED ON A SPHERICAL COORDINATE AND CONTROL METHOD OF THE SAME

摘要

The present invention relates to a robot arm based on a spherical coordinate system and a control method thereof, which enable a user to intuitively manipulate and control a robot arm with low calculation costs by using the spherical coordinate system. The robot arm includes: a first driving part arranged on a plane including an X axis and a Y axis in a three dimensional spherical space and having a driving center in parallel with a Z axis; a second driving part rotationally driven by the first driving part and having a driving center in parallel with the X axis or Y axis; a first link having one end connected to the second driving part and driven by the second driving part to vary an angle from the Z axis; a third driving part arranged at the other end of the first link and having a driving center in parallel with the X axis or the Y axis; and a second link having one end connected to the third driving part and driven by the third driving part to vary an angle from the plane passing the X axis and the Y axis. The present invention forms the first link and the second link to have the same length, thereby rapidly and intuitively controlling operation of the robot arm by a numerical formula using the spherical coordinate system.