Control method and control system for manipulator
AssigneeMatsushita Electric Industrial Co., Ltd.
InventorTamao Okamoto
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Abstract
In a control method of a multi-jointed manipulator, the manipulator is controlled through a process to transmit a difference between an end position of the manipulator and a target position to the joint axes, and a process to adjust joint displacements and joint velocities of the joint axes independently of one another of the joint axes based on the difference, these processes being repeated until the end position coincides with the target position. By such a manipulator control method, there can be realized position control which is robust against ambient environments and which is easy to achieve even with redundancy or nonlinear drive elements involved.
Claims16
A control method of a manipulator having a plurality of joint axis, comprising:
- a 1st process to measure a difference between a present value and a target value for an end portion of the manipulator;
- a 2nd process to transmit joint information including joint displacements and joint velocities of the joint axes, and difference information, to joint control sections of the joint axes, respectively;
- and
- a 3rd process to adjust parameters of the joint axes independently of one another by the joint control sections, respectively, based on the joint information and the difference information, wherein
- the 1st-3rd processes are repeated until the parameter of the end portion reaches to within a set range including the target value.
A control method of a manipulator having a plurality of joint axes, comprising:
- a 1st process to measure a positional difference between an end position of the manipulator and a target position;
- a 2nd process to transmit joint information including joint displacements and joint velocities of the joint axes, and positional difference information including positional difference, to joint control sections of the joint axes, respectively;
- and
- a 3rd process to adjust the joint displacements and the joint velocities of the joint axes independently of one another by the joint control sections, respectively, based on the joint information and the positional difference information, wherein
- the 1st-3rd processes are repeated until the end position reaches to within a set range including the target position.
A control method of a multi-jointed manipulator, comprising:
- a 1st process to measure a force difference between a contact force applied to an end portion of the manipulator and a target contact force;
- a 2nd process to transmit joint information including joint displacements and joint velocities of the joints, as well as force difference information, to joint control sections, respectively;
- and
- a 3rd process to, based on information including joint displacements and joint velocities of the joints as well as on information including force difference, adjust the joint displacements and the joint velocities of the joint axes in the joint control sections, wherein
- the 1st-3rd process are repeated until the contact force applied to the end portion reaches to within a set range including the target contact force.
A control system of a manipulator having a plurality of joint axes, comprising:
- a measuring device to measure a difference between a present value and a target value for an end portion of the manipulator;
- a total control section to control the manipulator based on the difference information and information including joint displacements and joint velocities of the joint axes;
- a transmission device to transmit evaluation result information as to the control from the total control section to the joint axes;
- and
- a plurality of joint control sections which are provided on the joint axes, respectively, to adjust parameters of the joint axes independently of one another of the joint axes based on the transmitted evaluation result information thereby controlling driving of the joint axes.
A control system of a multi-jointed manipulator, comprising:
- a measuring device to measure a positional difference between an end position of the manipulator and a target position;
- a total control section to control a position of the manipulator based on information including positional difference and information including joint displacements and joint velocities of the joint axes;
- a transmission device to transmit the position control information from the total control section to the joints;
- and
- a joint control sections which are provided on the joints, respectively, to adjust the joint displacements and the joint velocities of the joint axes independently of one another of the joint axes based on the transmitted position control information thereby controlling driving of the joint axes.
A control system of a multi-jointed manipulator, comprising:
- a measuring device to measure a force difference between a contact force applied to an end portion of the manipulator and a target contact force;
- a total control section to perform torque control for the manipulator based on information including force difference and information including joint displacements and joint velocities of all the joint axes;
- a transmission device to transmit the torque control information from the total control section to the joints;
- and
- a plurality of joint control sections which are provided on the joints, respectively, to adjust the joint displacements and the joint velocities of the joint axes independently of one another of the joint axes based on the transmitted torque control information thereby controlling driving of the joint axes.
Dependencies are inferred from the claim text.