| 摘要 |
<p>The work-space envelope of a conventional articulate multiple-shaft robot is limited to within +/-180 DEG with respect to all shafts due to the construction of the robot. The expansion of the work-space envelope of a robot has come to be demanded recenlty, and the construction of and a control method for a robot has been improved accordingly, so that this envelope has been expanded to up to +/-360 DEG . However, it is difficult in some cases to apply such a control method to a robot having a shaft which is turned not less than +/-360 DEG , and the robot cannot be operated in some cases. Therefore, according to the present invention, in order that a signal representative of a position to which a shaft has been turned is indicative of an angle within the range of +/-360 DEG with respect to a reference position of the same shaft, a signal representative of the number of revolutions which is obtained by multiplying the number of revolutions of the mentioned shaft by an integer is added to or subtracted from the above actual position signal in accordance with a plus or minus sign thereof, and a signal representative of the result of this addition or subtraction is used as a signal representative of a position of rotation of the shaft at the time of starting of a posture control operation. This corrected link angle becomes less than +/-360 DEG . Therefore, if this control method is employed, a smooth interpolation operation can be carried out. Accordingly, the workspace envelope of an articulate multiple-shaft robot can be expanded.</p> |
