Method of controlling robot movements
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United States of America Patent
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-
Oct 20, 1992
Grant Date -
N/A
app pub date -
Jun 8, 1990
filing date -
Jun 9, 1989
priority date (Note) -
Expired
status (Latency Note)
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Abstract
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.
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