| 摘要 |
PURPOSE:To move a stand while keeping a specified direction in parallel with a fixed plate on a space, by controlling a driving shaft of the stand so that each driving shaft can satisfy a specified relation based on the arm position. CONSTITUTION:A position detector is provided corresponding to R, theta, phi, where the R is a length of a center line OmS of an arm 1 of a manipulator, theta is an angle between a projection of an XY plane of the OmS, and phi is an angle between the OmS and the ex. The center O' of a stand 2 moves on a plane 3, while unit vectors ex', ey', ez' of the XYZ orthogonal coordinate system and unit vecgtors eX, eY, eZ of that on a plane 3 fixed on a space keep the relation of ex'=eX, ey'=eY, and ez'=eZ. In this case, a signal from the position detector (axis R is shown as 12-7) is input to servo interfaces 12-17 of R, theta, phi, alpha, beta, gamma, and control is made by the outputs (12-2 for the axis R) processed 10. |
