Control device, robot system and method of generating control data

A robot system comprising:

• a multi-joint manipulator having a plurality of joints connected through links;
• and
• a control device,
• wherein the control device comprises:
• a specification point setting section which sets a position except for a distal end as a specification point to the multi-joint manipulator;
• a coordinate setting section which sets a specification position corresponding to the specification point and
• a calculating section which generates a restrained control command value to control the multi joint manipulator in a restrained condition that at least one of degrees of freedom of movement the multi joint manipulator in the specification point is restrained, when a control command value to control the multi joint manipulator is given,
• wherein the restrained condition is a condition that the multi-joint manipulator in the specification point is fixed on the specification position.

A method of generating control data for a multi joint manipulator which has a plurality of joints connected through links, comprising:

• setting a position except for a distal end as a specification point to the multi joint manipulator;
• setting a specification position corresponding to the specification point and
• generating a restrained control command value to control the multi-joint manipulator in a restrained condition that at least one of degrees of freedom of movement of the multi-joint manipulator is restrained in the specification point, when a control command value to control the multi joint manipulator is given,
• wherein the restrained condition is in a condition that the multi joint manipulator in the specification point is fixed to the specification position.

A robot system comprising:

• a multi-joint manipulator which has a plurality of joints connected through links;
• a storage device which stores a program;
• and
• a processing unit which execute the program to implement a control section which comprises:
• a specification point setting section which sets a position except for a distal end as a specification point to the multi joint manipulator;
• a coordinate setting section which sets a specification position corresponding to the specification point
• a calculating section which generates a restrained control command value to control the multi-joint manipulator in a restrained condition that at least one of degrees of freedom of movement of the multi joint manipulator is restrained in the specification point, when a control command value to control the multi joint manipulator is given;
• and
• a transmitting section which transmits the restrained control command value to the multi-joint manipulator,
• wherein the restrained condition is a condition that the multi-joint manipulator in the specification point is fixed on the specification position.

A control device for a multi-joint manipulator which has a plurality of joints connected through links, comprising:

• a specification point setting section which sets a position except for a distal end as a specification point to the multi-joint manipulator;
• and
• a calculating section which generates a restrained control command value to control the multi joint manipulator in a restrained condition that at least one of degrees of freedom of movement the multi joint manipulator in the specification point is restrained, when a control command value to control the multi joint manipulator is given,
• wherein the calculating section generates the restrained control command value in a condition that angles of all of joints on a distal end side from the specification point in the multi-joint manipulator are fixed or that angles of all of joints on a base side from the specification point are fixed.