发明名称 |
METHOD OF CONTROLLING AN INDUSTRIAL ROBOT |
摘要 |
A method of controlling an industrial robot wherein velocities of the actuators for the robot are based on the velocity of a robot hand moving along a predetermined path of travel. When the velocity of any single actuator exceeds its ability, the velocities of the actuators are revised so as to bring the velocities of all the actuators within their abilities, thereby revising the velocity of the robot hand along its path of travel. Calculation of the velocity of each actuator may be carried out based on the position and posture of the robot hand and a Jacobian matrix. |
申请公布号 |
DE3377946(D1) |
申请公布日期 |
1988.10.13 |
申请号 |
DE19833377946 |
申请日期 |
1983.01.18 |
申请人 |
HITACHI, LTD. |
发明人 |
SUGIMOTO, KOICHI;KOIZUMI, KIYOHIDE;HAMADA, TOYOHIDE;ARAI, SHINICHI |
分类号 |
B25J9/16;B25J9/18;B25J13/08;G05B19/416;(IPC1-7):G05B19/407;B25J9/00 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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