| 摘要 |
PURPOSE:To execute a movement control of a target position by avoiding a collision by operating an actual robot by deriving an operating speed of an actual operation time from an increment value against an initial joint position of a joint position of a model robot in case when the final collision avoiding operation is ended. CONSTITUTION:A fault avoiding joint angle calculator 410 calculates a fault avoiding joint angle for positioning the tip onto a command locus, avoiding a collision to an obstacle basing on a collision avoiding angular velocity, a correcting angular velocity and a new joint angle from a coordinate transducer 408, a correcting angular velocity calculator 409 and a new angle calculator 403, respectively. Basing on this angle and the present joint, an actual target angle calculator 411 calculates an actual target joint angular velocity for miving a robot of the actual operation time along the command locus, avoiding an obstacle. As a result, the robot is brought to a movement control, avoiding the obstacle along the command locus in accordance with the actual target joint angular velocity by a servo-mechanism 500 of a speed control type. |
