| 摘要 |
PURPOSE:To improve a processing speed by finding out the displacement of a joint at first, and then finding out the rotational angles of respective axes. CONSTITUTION:An objective point of the leading end of an arm and its posture Xe are inputted at first, and then the position (x) of the joint and the positional posture X of the leading end of the arm are found out on the basis of a current axial angle theta. Fine displacement DELTAX of the X on a given locus is calculated on the basis of the X and Xe to form X'=X+DELTAX. Then, 6-element simultaneous linear equations are solved on the basis of fx(x,X').DELTAX=-f(x,X) to find out the fine displacement DELTAx. A position x' after the displacement of the joint is found out on the basis of x'=x+DELTAx and its axial angle theta' is found from the x' to find out the axial rotational angle DELTAtheta from DELTAtheta=theta'-theta. The DELTAtheta is outputted to control the arm on the basis of PTP method to device whether the leading end of the arm reaches the objective point or not, and if the leading end does not reach the objective point, theta' is substituted for theta and the processing for calculating the (x) and X from theta is restored. |
