| 摘要 |
PURPOSE:To make it possible to omit parameter setting corresponding to the attitude of a robot by converting a sensor output into a reference coordinate system, forming a speed command by means of a parameter in the reference coordinate system and composing the speed command with an objective speed in the reference coordinate system. CONSTITUTION:Outputs F(H), e(E), S(S) of respective sensors 11a-11c in a sensor coordinate system are converted into displays F(R), e(R), S(R) in the reference coordinate system (e.g. a rectangular coordinate system for the setting points of the robot). Ten, the speed commands Vf(R), Ve(R), Vs(R) are formed from sensor outputs F(R), e(R), S(R) by means of parameters set up in the reference coordinate system and composed with the objective speed command Vd(R) in the reference coordinate system to form a composed speed command V(R). The composed speed command V(R) is converted into a hand coordinate system V(H), and in the case of a manipulator, the hand coordinate system V(H) is converted into a joint speed. Thereby, the teaching of speed forming parameters is easy and it is unnecessary to set up the parameters individually in accordance with the attitude of the manipulator.
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