| 摘要 |
PURPOSE:To attain a manual operation of a robot without correcting the arm position by obtaining phij=gj (theta1...thetan), where i and j are equal to 1 from thetai=fi (phi1...phin) and supplying them to actuators 1...n respectively. CONSTITUTION:The actuator command values phi1...phi6 are supplied to an actuator 6 from an actuator 1 when the degree of freedom is set at 6. In this case, the arm relative angles are given with theta1=phi1, theta2=phi2, theta3=phi3-phi2, theta4=phi4- phi3, theta5=2phi5+2phi4 and theta6=phi6+2phi3-4phi4-2phi5. Based on these equations, phi1=theta1, phi2=theta2, phi3=theta3+theta2, phi4=theta4+theta3+theta2, phi5=2theta5-2(theta4+ theta3+theta2) and phi6=theta6+2theta4+theta5 are obtained respectively. Then theta1-theta6 are supplied to a computer to obtain phi1- phi6. These phi1-phi6 are fed to a motor. Thus a manual operation of a robot is possible without correcting the arm position. |
