发明授权
- 专利标题： Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same
- 专利标题（中）： 基于控制机器人冗余分辨率的控制和计算机可读介质的教学和播放方法
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申请号： US12923650申请日： 2010-09-30
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公开(公告)号： US08560122B2公开(公告)日： 2013-10-15
- 发明人: Dae Hyung Park , Ki Moon Lee , Chi Gun An , Yong Joon Hong
- 申请人： Dae Hyung Park , Ki Moon Lee , Chi Gun An , Yong Joon Hong
- 申请人地址： KR Suwon-Si
- 专利权人： Samsung Electronics Co., Ltd.
- 当前专利权人： Samsung Electronics Co., Ltd.
- 当前专利权人地址： KR Suwon-Si
- 代理机构： Staas & Halsey LLP
- 优先权： KR10-2009-0099003 20091016
- 主分类号： G05B19/04
- IPC分类号： G05B19/04 ; G05B19/18
摘要：
Disclosed is a teaching and playback method using a redundancy resolution parameter determined in conjunction with a joint structure, for a robot, and a method to apply analytic inverse kinematics to a robot having an elbow with an offset and a computer-readable medium of controlling the same. A reference plane variable with the joint structure is generated and an angle between the reference plane and an arm plane of the robot is used as the redundancy resolution parameter. The robot is taught and its operation is played back in differential inverse kinematics or analytic inverse kinematics using the resolution redundancy parameter.