ROBOT ARTICULATED ARM CONTROL

摘要

A method of controlling the movement of an articulated arm to permit the arm to move an end point thereof more freely and more directly to a preselected target. This smoother operation is obtained by a computer calculating the changein joint angle using an iterative pseudoinverse Jacobian having a damping factor. The damping factor is adjusted for each iteration based on the distance necessary to reach said preselected target.