Method and apparatus for controlling a robot hand along a predetermined path

A method of controlling a robot hand along a predetermined path at a predetermined speed, comprising the steps of:

• calculating path direction data from start position data and target position data stored in a memory;
• detecting a pair displacement of the robot hand by a detector provided on a robot as the robot hand endeavors to traverse the predetermined path during a sampling operation;
• converting the detected pair displacement to an actual position data in a rectangular coordinate system;
• determining a command speed value of the rotor hand for a subsequent sampling operation by using the path direction data, the target position data and the actual position data;
• and
• using the command speed value to control a drive system of the robot hand to correct positional deviation of the robot hand from the predetermined path and speed deviation of the robot hand from the predetermined speed.

An apparatus for controlling a robot hand along a predetermined path at a predetermined speed, comprising:

• memory means for storing start position data and target position data of the robot hand;
• compute means for computing path direction data from the start position data and the target position data stored in said memory means;
• convert means interacting with said compute means for converting a pair displacement of the robot hand to actual position data in a rectangular coordinate system and for calculating an equation by using the path direction data, the target position data and the actual position data to determine a command speed value;
• and
• means for providing the command speed value to a driving system of the robot hand.

An apparatus for controlling a robot hand along a predetermined path at a predetermined speed, comprising:

• memory means for storing start position data and target position data for the robot hand;
• compute means for computing path direction data from the start position data and the target position data stored in said memory means;
• convert means interacting with said compute means for converting a pair displacement of the robot hand obtained during sampling operations as the robot hand endeavors to traverse the predetermined path, into actual position data in a rectangular coordinate system and for calculating an equation by using the path direction data, the target position data and the actual position data to determine a command speed value of the robot hand;
• and
• means using the command speed while controlling a system driving the robot hand during a subsequent sampling operation for correcting positional deviation of the robot hand from the predetermined path and speed deviation of the robot hand from the predetermined speed.

A method of controlling a robot hand along a path, comprising the steps of:

• calculating path direction data from start position data and target position data stored in a memory;
• detecting a pair displacement of the robot hand by a detector provided on a robot;
• converting the detected pair displacement to actual position data in a rectangular coordinate system;
• determining a command speed value of the robot hand for a subsequent sampling operation by using the path direction data, the target position data and the actual position data on the basis of the equation:
• u=v.sub.t a+k.sub.1 e/T+k.sub.2 .SIGMA.e/T+k.sub.3 e.sub.v +k.sub.4 .SIGMA.e.sub.v
• wherein u is the command speed value, v.sub.t is a speed of the robot hand at a sampling time t, a is the path direction data, e is a positional deviation, T is a sampling period, .SIGMA.e represents accumulated positional deviation during the sampling operations carried out from a start point, e.sub.v is a speed deviation, .SIGMA.e.sub.v represents accumulated speed deviation during the sampling operations carried out from the initial sampling point, and k.sub.1 -k.sub.4 are proportional coefficients;
• and
• providing the command speed value to a drive system of the robot hand.

An apparatus for controlling a robot hand along a path comprising:

• memory means for storing start position data and target position data of the robot hand;
• compute means for computing path direction data from the start position data and the target position data stored in said memory means;
• convert means for converting a pair displacement of the robot hand to actual position data in a rectangular coordinate system;
• calculate means for calculating a command speed value u by using the path direction data, the target position data and the actual position data to determine a command speed value, on the basis of an equation wherein:
• u=v.sub.t a+k.sub.1 e/T+k.sub.2 .SIGMA.e/T+k.sub.3 e.sub.v +k.sub.4 .SIGMA.e.sub.v
• and v is a speed of the robot hand at a sampling time t, a is the path direction data, e is a position deviation, T is a sampling period, .SIGMA.e represents accumulated positional deviation during sampling operations carried out from a start point, e.sub.v is a speed deviation, .SIGMA.e represents accumulated speed deviation during the sampling operations carried out from an initial sampling point, and k.sub.1 -k.sub.4 are proportional coefficients;
• and
• means for providing the command speed value to a driving system of the robot hand.

A method of controlling a robot hand along a path, comprising the steps of:

• obtaining positional information and speed information about the robot hand;
• determining a command speed value of the robot hand on the basis of the sum of a value proportional to the positional deviation of the robot hand from the path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from a speed, a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point, and optimum values of proportional coefficients obtained on the basis of data output from means for detecting the position of an actuator for the robot hand;
• determining said optimal values of said proportional coefficients by repeatedly driving said robot hand along said path and holding all but one of said proportional coefficients at constant values while making successive variations in the value of said one of said proportional coefficients until the relation between changes in the values of said positional deviation and said variations in said one of said proportional coefficients is altered from monotonically decreasing to monotonically increasing;
• and
• providing the command speed values to a drive system of the robot hand.