METHOD AND DEVICE FOR FUZZY CONTROL OF MANIPULATOR AND MANIPULATOR DEVICE

摘要

PURPOSE:To attain the sure fuzzy control with the small computing frequency of a manipulator by performing a fuzzy inference with use of the difference between the present value and the target value of the tip position/attitude of the manipulator in place of the absolute value of the target value. CONSTITUTION:In a manipulator system, the present value 110 of the tip position/attitude of a manipulator 201 is subtracted from the given target value 106 of the position/attitude of the manipulator 201. Thus a difference 107 is obtained for the tip of the manipulator 201. Then the command value 108 of each joint of the manipulator 201 is obtained from the difference 107 via a fuzzy inference 101. The value 108 is inputted to each of joint drivers 204 - 208 and the manipulator 201 is driven. In this case, the coordinate transformation 105 is applied to the joint angle 109 detected by each of angle sensors 210 - 214 of the manipulator 201 in order to obtain the present value 110 of the tip position/attitude of the manipulator 201.