CONTROL METHOD FOR ROBOT ATTITUDE

摘要

PURPOSE:To secure the optimum attitude of a robot when an obstacle is evaded by defining the coefficient that decides the value of a 2nd moment as a function and reducing this function value as the robot moves further away from a target position. CONSTITUTION:A moment M1 is obtained by applying the image transformation to the outputs of external sensors 21 and 22 of a robot 1 into an (n+1)- dimensional virtual space corresponding to an N-dimensional work space. A moment M2 is produced from the product of a certain coefficient and the deviation between the target attitude phir and the present attitude phi of the robot 1 set at the arrived target position. Then a moment M3 is obtained from the present rotational angle speed. The attitude of the robot 1 is controlled by said moments M1-M3. Here a function is used to the coefficient that decides the value of the moment M2 and this function value is reduced as the robot 1 moves further away from the target position. Thus the robot 1 is controlled to an attitude optimum to evade obstacles at a place remote from the target position. The value of the M2 is increased when the robot 1 moves close to the target. As a result, the robot 1 is controlled so as to be turned accurately to a target angle at a target position.