CONTROL METHOD AND CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a control method and a control device for avoiding specific points by angularly displacing a redundant joint part of an articulated robot. SOLUTION: The control method for controlling the articulated robot 1 to avoid the specific points of the articulated robot having a plurality of joint parts 9-15 including the redundant joint part, comprises an absolute value computing step for computing the absolute value ¾det(J)¾ of a determinant det(J) of a Jacobian matrix J for converting the angle positions of a plurality of predetermined joint parts out of the joint parts 9-15 of the articulated robot 1, into the positions of an end effector 18 of the articulated robot 1; a determining step for determining whether the absolute value of the determinant of the Jacobian matrix is the predetermined set value ¾det(Jset)¾ or less; and a redundant joint control step for angularly displacing the redundant joint part to enlarge the absolute value of the determinant of the Jacobian matrix while holding the end effector 18 on a predetermined track when the absolute value of the determinant of the Jacobian matrix is determined to be smaller than the set value in the determining step. COPYRIGHT: (C)2005,JPO&NCIPI