| 摘要 |
PURPOSE:To raise applicability and extensibility of an operating function of a robot, by changing a definition of a co-ordinate system conversion matrix without changing a fundamental system of the robot. CONSTITUTION:A fitting part of a final operating device is a finger 10. When a position component matrix (Q) of this final operating device 11 is defined as an expression 1, a component of this matrix is shown by an expression 2. In this case, when each constant in the expression 2 is determined suitably, as a result, a desired final operating device co-ordinate system 3 being different from a finger co-ordinate system 2 is defined. By controlling a robot in accordance with this definition, an operating function of the robot can be varied optionally, and a robot having applicability and extensibility is obtained. In this way, applicability and extensibility of the operation function of the robot can be raised. |
