| 摘要 |
PURPOSE:To prevent a runaway by performing control so that a manipulator does not approach a singular point. CONSTITUTION:When plural rotating shafts are coupled mutually through articulations, the position and direction (x) of an arm tip are expressed as x=f(THETA) using the function THETA=theta1, theta2...thetan of an articulation angle theta. The right and left-hand member are both differentiated to obtain x<1>=J(THETA).THETA, (Jij=(-)fi/(-)thetaj). When the arm tip of the manipulator approaches a singular point, i.e. point where J is not regular and ¦J(THETA)¦<K1 (K1: positive constant) holds, an operation command is inverted to change x<1> into -x<1> (step 32). Consequently, the manipulator is moved in the opposite direction. When ¦J(THETA)¦<K2 (K2: positive constant and K2<K1<0), the operation command is returned to the original state to change -x<1> into x<1>. |
