MANIPULATOR AND PATH GENERATION METHOD THEREOF

摘要

PURPOSE: A manipulator and a path generation method thereof are provided to convert a circular arc path of a two-dimensional plane into a path of three-dimensional space with consideration for a current position of a gripper, a position of an object, and a target position of the gripper. CONSTITUTION: A method for generating a path of a manipulator is as follows. A current position of a gripper installed in a front end portion of the manipulator, a position of an object, and a target position of the gripper are recognized(300). A rotational angle of the plane is calculated on a basis of the current position of the gripper, the position of the object, and the target position of the object(302). A circular arc path of a two-dimensional plane is calculated by using the rotational angle of the plane(304). A transfer matrix composed of the current position of the gripper, the position of the object, and the target position of the object is calculated(306). The circular arc path of the two-dimensional plane is converted into a path of three-dimensional space by using the transfer matrix(308). [Reference numerals] (300) Recognizing the current position of an object and the current and target positions of a gripper; (302) Calculating the rotation angle(Φ) of a plane; (304) Calculating a circular arc path on a two-dimensional plane; (306) Converting a triangle plane generating the circular arc path; (308) Generating a path in a three-dimensional space; (AA) Start; (BB) End