MANIPULATOR CONTROL METHOD AND CONTROL SYSTEM

摘要

A method for controlling a manipulator having a plurality of joint shafts performs manipulator control by repeating a step for transmitting a difference between the manipulator tip end position and a target position to each joint shaft and a step for independently correcting a joint displacement and a joint speed of each joint shaft until the tip end position is matched with the target position. According to the manipulator control method, it is possible to easily realize position control robust against the ambient environment even if a redundant or non-linear element is present.