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JPS53121362A - Method of controlling each articulation angle of articulated robot - Google Patents

Method of controlling each articulation angle of articulated robot

Info

Publication number
JPS53121362A
JPS53121362A JP3457677A JP3457677A JPS53121362A JP S53121362 A JPS53121362 A JP S53121362A JP 3457677 A JP3457677 A JP 3457677A JP 3457677 A JP3457677 A JP 3457677A JP S53121362 A JPS53121362 A JP S53121362A
Authority
JP
Japan
Prior art keywords
controlling
articulated robot
articulation angle
articulations
arms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP3457677A
Other languages
Japanese (ja)
Other versions
JPS6132691B2 (en
Inventor
Hisaaki Hirabayashi
Koichi Sugimoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP3457677A priority Critical patent/JPS53121362A/en
Publication of JPS53121362A publication Critical patent/JPS53121362A/en
Publication of JPS6132691B2 publication Critical patent/JPS6132691B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To provide a method of controlling each articulation angle of an articulated robot, intended for controlling the motion of the top of an articulated robot, including at least three articulations and three arms, from its initial point to the end point, which is effective in reducing the memory capacity to a great extent and simplifying operational processing remarkably.
JP3457677A 1977-03-30 1977-03-30 Method of controlling each articulation angle of articulated robot Granted JPS53121362A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3457677A JPS53121362A (en) 1977-03-30 1977-03-30 Method of controlling each articulation angle of articulated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3457677A JPS53121362A (en) 1977-03-30 1977-03-30 Method of controlling each articulation angle of articulated robot

Publications (2)

Publication Number Publication Date
JPS53121362A true JPS53121362A (en) 1978-10-23
JPS6132691B2 JPS6132691B2 (en) 1986-07-29

Family

ID=12418139

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3457677A Granted JPS53121362A (en) 1977-03-30 1977-03-30 Method of controlling each articulation angle of articulated robot

Country Status (1)

Country Link
JP (1) JPS53121362A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5988279A (en) * 1982-10-15 1984-05-22 新明和工業株式会社 Coordinate transformation method for articulated robot and device therefor
JPS59115180A (en) * 1982-12-21 1984-07-03 新明和工業株式会社 industrial robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5988279A (en) * 1982-10-15 1984-05-22 新明和工業株式会社 Coordinate transformation method for articulated robot and device therefor
JPH0424196B2 (en) * 1982-10-15 1992-04-24 Shin Meiwa Ind Co Ltd
JPS59115180A (en) * 1982-12-21 1984-07-03 新明和工業株式会社 industrial robot

Also Published As

Publication number Publication date
JPS6132691B2 (en) 1986-07-29

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