| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a position control method of a tip of a multi joint manipulator which can accurately control a position of the tip of the multi joint manipulator to a predetermined position.SOLUTION: A method controls a position of a tip of a multi joint manipulator 5 comprising: a plurality of joint shafts 2 and 4 rotating about respective axes; and a plurality of arms 1 and 3 extending in radial directions from the joint shafts 2 and 4. The method obtains rotation angles and rotation speed of the joint shafts 2 and 4 from output from gyro sensors 9 and 10 mounted to respective tips of the arms 1 and 3 to control the position of the tip of the multi joint manipulator 5.</p> |
