Control system of multi-joint arm robot apparatus
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United States of America Patent
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-
Sep 17, 1991
Issued Date -
N/A
app pub date -
Jul 19, 1989
filing date -
Oct 29, 1982
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A multi-joint arm robot apparatus comprises a multi-joint arm having a plurality of unit arms coupled in tandem with each other through joints, and a movable support for supporting the proximal portion of the multi-joint arm. The multi-joint arm robot apparatus has motors for controlling joint angles of the joints and a motor for moving the movable support. These motors are driven by a control system. The control system controls the motors to obtain proper joint angles, in such a way that the joints of the multi-joint arm are put into a given path when the movable support is moved a given unit distance.
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