| 摘要 |
PURPOSE:To attain senser feedback control effectively with multiple freedom by converting data from a sensor into a coordinate system fixed on the hand or base of a robot through a coordinate conversion processor. CONSTITUTION:In a system mounting a highly efficient sensor such as a 6-axis detecting sensor on a robot having a multi-free joint system, data from a sensor part 59 is once converted into coordinates and then inputted to a control part 55. The control part 55 receives also coordinate data from the coordinate conversion processor 54 converting information such as positions and speeds from a detector 52 into coordinate values and processes the coordinate data. After the conversion 56 of the coordinates, the data are outputted to a driving part 57 to operate the robot. |
