Industrial robot control method and apparatus.

摘要

There are disclosed an industrial robot control method and an apparatus which determine the values THETA i of each axis when the predetermined position of a work mounted to the end of a hand comes to the position of the distal end of a tool fixed, determine the position/posture Xi of the end of the hand with respect to the coordinate system of the end of the hand for each of the values THETA i for each axis using the forward transformation operation, determine the position/posture Ti of the distal end of the tool with respect to the coordinate system of the end of the hand based on the position/posture P of the distal end of the tool with respect to the coordinate system of the robot base, and the position/posture Xi of the robot base with respect to the coordinate system of the end of the hand, determine positions/postures Tj intermediate between each position/posture Ti of the distal end of the tool, using an interpolation function h, determine the position/posture Xj of the robot base with respect to the coordinate system of the end of the hand based on the position/posture P of the distal end of the tool with respect to the coordinate system of the robot base and intermediate positions/postures Tj, determine command values THETA j for each of the axes of the robot representing the position/posture Xj of the robot base with respect to the coordinate system of the end of the hand using the reverse transformation operation f<-><1>, and drive the robot using the values THETA for each axis of the robot as command values. Using the similarity of coordinate system based on the end of hand and that based on the robot base, operations for conventional control based on the robot base can be applied for the control of the robot system where the tool is in fixed position. <IMAGE>