Robot arm control method using open loop control in combination with closed loop control
AssigneeFujitsu Limited
InventorsFumio Tabata, Kazuo Asakawa, Hitoshi Komoriya
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Abstract
A method for controlling the locus of an arm of an arm type robot or the like, wherein a control system which drives a first arm of a two-joint arm under open-loop control and a second arm under feedback control is provided. A bang-bang drive system is used for positioning the first arm in a minimum time. The position of the tip of the second arm can be detected either from the rotational angle of each arm or by means of a position recognizing device. Furthermore, an arm positioning method for rapidly bringing the tip of a multi-joint arm to a desired position while detecting the positions of its tip and its joints by simple calculations is disclosed.
Claims9
An arm locus control method, comprising the steps of:
- driving a first arm of a two-joint arm under open-loop control, and placing a second arm under feedback control by using a control signal proportional to the product of a first value obtained by substituting a coordinate value of a tip of the second arm for a variable in a function representing a locus along which the tip of the second arm is to follow and a second value obtained by substituting the coordinate value of the tip of the second arm for a variable in a derivative of the function.
An arm locus control method, comprising the steps of:
- driving a first arm of a two-joint arm under open-loop bang-bang control, and placing a second arm under feedback control by detecting the deviation of the tip of the second arm from a predetermined locus, and producing a feedback control signal to correct the deviation by generating a signal that is proportional to the product of a function representing a straight line along which the tip of the second arm is to be moved and a partial derivative of that function.
Dependencies are inferred from the claim text.