| 摘要 |
<P>PROBLEM TO BE SOLVED: To suitably achieve control for operating smoothly like a human arm a seven-shaft multi-joint robot having a mechanism in which at least one of rotation shafts for three joints on a base end side of seven joints does not cross with any other shaft at a single point. <P>SOLUTION: This is the control method for the seven-shaft multi-joint robot having seven joints disposed in order from the base end to the distal end thereof, with the seven joints alternately having a rotating shaft that revolves the next joint and a rotating shaft that rotates the next joint. The control method is configured such that each of the rotating shafts for the three joints on the base ends do not cross at a single point. The control method performs inverse conversions (step S505), using as a constriction condition the joint angle of an intermediate joint of the three joints whereby the pseudo elbow angle, when the rotation axis of the intermediate joint is considered to be the shoulder, is constant. <P>COPYRIGHT: (C)2012,JPO&INPIT |
