发明名称 |
ROBOT CONTROL METHOD AND ROBOT SYSTEM |
摘要 |
PURPOSE: A robot control method and a robot system are provided to prevent the malfunction of a robot in advance and undesired. CONSTITUTION: A robot control method comprises; a step(504) for virtually dividing a whole path of a task given to a robot into a plurality of sections, a step(508) for calculating a joint control value of the robot in each section, and a step for determining possibility of singularity by comparing a joint control vale in a prior section and a joint control value in a current section. When a difference between the joint control values in the current section and the prior section is below a reference value, the possibility of the singularity is not existed. When a difference between the joint control values in the current section and the prior section is over the reference value, the possibility of the singularity is existed. [Reference numerals] (502) Recognizing a whole path; (504) Virtually dividing the whole path into a plurality of sections; (506) Setting a path point for each divided section; (508) Calculating and storing a joint control value for each of the path points through inverse kinematics analysis of a robot; (510) Comparing the joint control value(C(n-1)) of the prior path point with the joint control value(C(n)) of the current path point; (512) C(n)-C(n-1)≤reference value ?; (518) Executing a motion; (520) Outputting an error message; (AA) Start; (BB,DD) No; (CC,EE) Yes; (FF) End
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申请公布号 |
KR20130017520(A) |
申请公布日期 |
2013.02.20 |
申请号 |
KR20110080005 |
申请日期 |
2011.08.11 |
申请人 |
SAMSUNG HEAVY IND. CO., LTD. |
发明人 |
KANG, SANG MIN;PARK, SANG DONG;KIM, MIN SOO;PARK, YOUNG JUN |
分类号 |
B25J9/16;B25J9/06 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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