| 摘要 |
<p>A control apparatus for guiding a tip of a flexible-arm robot to a required target point through a shortest path. This apparatus is designed to control a first actuator to give bending motion to flexible arms (2, 4, 6) comprising many discs (9) serially stacked in mutual contact, each of said discs having an outwardly bent surface. The control apparatus comprises an operator panel unit (11); a main operation unit (15) which performs various operations upon receipt of operation signals from the panel unit (11) to produce operation instruction signals (J1 to J7) for each of the degrees of freedom of flexible arms (2, 4, 6); a servo control unit (18) for producing respective control signals (I1 to I11) for a plurality of hydraulic actuators (211 to 2111) for operating said first actuator in response to operation instruction signals from said main operation unit (15); operational force detector means (221 to 228) for detecting the operational force of said first actuator; position detector means (231 to 2311) for detecting the motion of said first actuator; and a feedback means for inputting the present position of said first actuator to an arithmetic unit of said servo control unit in response to signals detected by the above two detect means.</p> |
