| 摘要 |
PROBLEM TO BE SOLVED: To provide an multi-articulated robot capable of moving to reach target position and target attitude. SOLUTION: A joint arm has a plurality of links connected in series by a plurality of joints. A forward kinematics arithmetic part 22 calculates present position and present attitude of a distal end part of the joint arm based on a rotational angle of each link detected by pulse encoders 16a to 16f. A rotational angle updating part 25 repeatedly updates the rotational angle of each of the links till a deviation of the calculated present position and present attitude of the distal end part of the joint arm from the target position and target attitude of the distal end part of the joint arm becomes a prescribed value or below. When the deviation becomes the prescribed value or below, each of the links is rotated based on the updated rotational angle. A deviation deciding part 23 reduces a deviation to be calculated next time and determines whether or not the reduced deviation is the prescribed value or below when the deviation is not the prescribed value or below and the number of times of calculation of corrected angles exceeds a prescribed number of times. COPYRIGHT: (C)2010,JPO&INPIT
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