LOCUS CONTROL SYSTEM FOR MULTI-JOINT TYPE ROBOT

摘要

PURPOSE:To avoid apeculiar point in real time and with utilization of redundancy by obtaining the value of each determinant from the joint value supplied at each sampling time point under control and controlling the locus of a multi- joint type robot by means of a matrix corresponding to the determinant having the largest absolute value. CONSTITUTION:A general formula of the yacobian matrix including redundancy is obtained together with a combination between a matrix obtained by excluding the rows equivalent to the redundant value out of a yacobian matrix and a determinant. While the value of each determinant is obtained from the joint value supplied at each sampling time point under control. Then, the locus control is carried out by means of a matrix corresponding to the determinant having the largest absolute value among those values of each determinant. Thus the locus control is carried out by selecting the largest value (absolute value) at each control sampling time point out of combinations of full-rank matrices obtained by excluding a row of redundant value from the yacobian matrix used for control of a multi-joint type robot having redundancy. As a result, a peculiar point defined as detJ=0 is automatically avoided.