| 摘要 |
<P>PROBLEM TO BE SOLVED: To allow the angle data to be converted even to a redundant degree-of-freedom robot, and to compatibly perform the correction of the tool fore end position error and the avoidance of the hinge angle limit or any obstacle. <P>SOLUTION: A method for converting the robot angular data includes: steps (S301-S303) of calculating the tool fore end position vectors of a robot before the change and a robot after the change considering each geometrical error; a step (S304) of calculating the error vectors between these vectors; a step (S307) of calculating the Jacobian matrix to the angle data of the robot after the change considering the geometrical error; a step (S308) of calculating the angle correction vectors based on the error vectors, and the inverse matrix or the pseudo inverse matrix of the Jacobian matrix; a step (S309) of correcting the angle correction vectors by using the performance function considering the avoidance of the hinge angle limit and the avoidance of any obstacle; and a step (S310) of correcting the angle data of the robot after the change by the corrected angle correction vectors. The processing is iterated until the absolute value (S305) of the error vectors is below the threshold (YES in S306). <P>COPYRIGHT: (C)2012,JPO&INPIT |
