| 摘要 |
A method and apparatus for controlling a manipulator by establishing polynomials obtained, as the functions of two sets of command values, the one set representing the position and the other set representing the direction respectively of the manipulator hand, by approximating the values of angles of rotation prescribed for the drive mechanisms of the manipulator and the arm of the manipulator, subjecting the aforementioned polynomials to an arithmetic operation in electronic circuitry by use of the aforementioned objective-command values in conjunction with the coefficients of the aforementioned polynomials established in advance by calculation and thereby deriving angular magnitudes for the separate drive mechanisms of the manipulator and controlling the operation of the drive mechanisms based on the angular magnitudes. |
