| 摘要 |
PROBLEM TO BE SOLVED: To secure superior operability in the vicinity of a singular point of a maneuverable robot manipulator being real-time variable value control by using a control technique of a conventional teaching reproducible robot having forward conversion and inverse conversion. SOLUTION: Upon detecting an excessive command in the vicinity of the singular point (S1-3), an original speed and the angular velocity vector direction are maintained by an absolute value speed reduction means, and only the size is reduced to a realizable speed (S1-4 to S1-8), or a rotation command of a partial joint is delayed (S3-1 to S3-11), or a bypass vector is generated and added (S5-1 to S5-13), and operation of the manipulator is continued. COPYRIGHT: (C)2004,JPO
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