Track controller for articulated robot
专利汇可以提供Track controller for articulated robot专利检索，专利查询，专利分析的服务。并且PURPOSE: To allow an elbow through the singular point of a shoulder part by simple algorithm without motion like a swing by converting articulation angle coordinates and preventing the robot from having a rotating speed when the elbow comes to near the singular point of the shoulder part.
CONSTITUTION: A controller is provided with a means which detects the elbow comes to near the singular point of the shoulder part and a means which converts articulation angle coordinates and preventing the robot having a rotating speed when the elbow comes to near the singular point. Namely, an arithmetic circuit 2 reads the current articulation angle θ of the robot at each sampling point and decides the singular point. A command computation part 3, on the other hand, computes a reverse Jacobian matrix and finds a command articulation angular speed θ' along with a speed command value (p) from a joy stick 1 to determine a next a target articulation angle position θ. this target position is outputted to the servomechanism of the robot 5, which moves to the target position.
COPYRIGHT: (C)1988,JPO&Japio，下面是Track controller for articulated robot专利的具体信息内容。
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