| 摘要 |
PROBLEM TO BE SOLVED: To calculate a suitable approximate attitude as an initial value for obtaining the attitude of the other part by convergence calculation to an articulated robot of a structure where the attitude of the other part can't be analytically specified from the position of the tip part and an angle of inclination and to the articulated robots arranged with high density or the other interfering object. SOLUTION: Two joints are selected from the joints of the articulated robot and a first equation expressing the relationship of attitude variables of two joints is derived (step S2). Numerical values are substituted by scanning in the first equation to record an error (step S3), and among them, the set of attitude variables showing the minimum error is examined and calculated (step S4). Further, a second equation showing the relationship with the other attitude variable is derived (step S5), and another attitude variable is calculated from the second equation (step S6). The convergence calculation is performed with the obtained attitude variable set taken as the initial value to obtain a true attitude value (step S7).
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