CONTROLLER FOR MODULE TYPE MANIPULATOR

摘要

PURPOSE:To execute the control of a module type manipulator just by giving the target value of the position and attitude of a hand irrespective of the arrangement of number of degrees of freedom of a joint by computing the position and attitude of the hand from joint angle data. CONSTITUTION:A connection state input device 6 inputs the kind, shape and connection state of the joints of the respective modules in it. A hand arithmetic selection part 7 reads the data of the connection state input device 6 and selects a hand position and attitude computing method which coincides with the connection state of the module so as to transfer to a hand position and attitude arithmetic part 5. In the same way, a joint arithmetic selection part 8 reads the data of the connection state input device 6 and selects a joint target value computing method which coincides the connection state of the module so as to transfer it to a joint angle speed target value arithmetic part 3. Both selection parts 5 and 3 read out the element of a coordinate transformation matrix corresponding to the kind and shape of the joint from a matrix element storage part 9 and transfer it both arithmetic parts after constituting a matrix in the form of a product corresponding to the connection state of the joint.