公开(公告)号：US4887222A

公开(公告)日：1989-12-12

申请号：US213137

申请日：1988-06-29

申请人： Norihisa Miyake ,  Masaki Sumita

发明人： Norihisa Miyake ,  Masaki Sumita

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/4093 ,  G05B19/41

CPC分类号： G05B19/41 ,  G05B2219/34131 ,  G05B2219/45083

摘要： There is provided an operation control method for an industrial robot having a plurality of joints, cooperation of these joints allowing a hand or an end effector attached to the hand to perform necessary operation comprising the steps of representing a position and orientation of a hand effecting point relatively determined with respect to the hand or the end effector by a generalized coordinate system suitable for describing the task, deriving respective displacement values of the plurality of joints corresponding to the position and orientation information by using means such as computation, and making the hand effecting point perform necessary operation. For at least one joint among the plurality of joints, displacement is approximately derived by using approximate solution. For remaining joint among the plurality of joints satisfying a parameter or parameters to be controlled especially accurately among the position or position and orientation of the hand effecting point, strict solutions are derived by using the approximate solution of the above described at least one joint. the operation of the hand effecting point is thus controlled.

摘要翻译： 提供了一种用于具有多个关节的工业机器人的操作控制方法，这些关节的配合允许附着在手上的手或端部执行器执行必要的操作，包括以下步骤：表示手部效果点的位置和方位 通过适用于描述任务的广义坐标系相对于手或末端执行器确定相应的位置值，通过使用诸如计算的手段导出与位置和方向信息相对应的多个关节的各个位移值，并且使手执行 点执行必要的操作。 对于多个关节中的至少一个关节，通过使用近似解来近似地导出位移。 为了在多个关节中保持接合，满足在手效点的位置或位置和方位之间特别精确地控制的参数或参数，通过使用上述至少一个关节的近似解来导出严格的解。 因此控制手效点的操作。

公开(公告)号：US4954762A

公开(公告)日：1990-09-04

申请号：US472082

申请日：1990-01-30

申请人： Norihisa Miyake ,  Masaki Sumita ,  Shinichi Sarugaku

发明人： Norihisa Miyake ,  Masaki Sumita ,  Shinichi Sarugaku

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/4093 ,  G05B19/418

CPC分类号： G05B19/4182 ,  G05B2219/39063 ,  G05B2219/39101 ,  G05B2219/50353 ,  Y02P90/083 ,  Y02P90/20

摘要： A method and apparatus for controlling the tracking path of a working element so that the working element moves along a path having a predetermined positional relationship with a working object by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element. The method and apparatus allot individual coordinate systems each having a discriminator to the working element, the working object and the moving elements to provide coordinate systems with the corresponding discriminators, set as a coordinate system expressing the data for controlling the movement of the working element a first coordinate system selected from the coordinate systems, describe, using a second coordinate system selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points on the tracking path along which the working element is to move on the basis of a prescribed working schedule, store these data together with the discriminators representative of the corresponding coordinate systems, decide in executing a real work if or not the first coordinate system and the second coordinate system are the same from their discriminators, and, if both coordinate systems are different coordinate systems, converts the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system, and control the movement of the working element on the basis of the converted data.

公开(公告)号：US5157315A

公开(公告)日：1992-10-20

申请号：US535140

申请日：1990-06-08

申请人： Norihisa Miyake ,  Masaki Sumita ,  Koichi Sugimoto

发明人： Norihisa Miyake ,  Masaki Sumita ,  Koichi Sugimoto

IPC分类号： B25J9/16 ,  B25J9/06 ,  B25J9/18 ,  B25J13/00 ,  G05B19/408

CPC分类号： G05B19/4086

摘要： A method of controlling the movements of a robot having a plurality of degrees of freedom includes expressing the attitudes of a hand or a working tool fitted to the arm end of the robot, the by the use of base vectors of a rectangular coordinate system fixed to the hand or the working tool. The attitudes are given as coordinate components related to a rectangular coordinate system which is fixed to the pedestal of the robot and which serves as reference. Interpolation and movement control of the robot is performed on the basis of the coordinate components. By performing control, based on the coordinate components real-time calculation processings is reduced highly accurate robot movement which is smooth in terms of both time and space is accomplished.