| 摘要 |
PURPOSE: A motion control method for a wearable robot by teaching or pre-programming is provided to smoothly perform a precise transfer motion or repetitive task by directly controlling the motion of a robot. CONSTITUTION: A motion control method for a wearable robot by teaching or pre-programming comprises the following steps: teaching the location of starting and targeting points(S110,S120); starting a straight line task after inputting moving speed(S130,S140); calculating a trajectory after moving to the starting location(S150,S160); calculating(S170) the moving angle by axis of a robot on the basis of the information of a robot methodology(S171); and terminating the straight line task when getting to the targeting point after controlling the location by axis according to the calculated moving angle(S180,S190). [Reference numerals] (AA) Starting a straight line task(eg.welding); (BB) No; (CC) Yes; (DD) Finishing the straight line task; (EE) Moving speed; (S) Starting point; (S110) Teaching the position of a starting point; (S120) Teaching the position of a target point; (S130) Inputting moving speed; (S140) Starting a task; (S150) Moving the position of the starting point; (S160) Calculating a trajectory; (S170) Performing inverse kinematics calculation on a wearing robot(calculating a moving angle according to axis); (S171) Wearing robot kinematics information; (S180) Position control according to axis; (S190) Reaching the target point?; (T) Target point |
