Method of controlling position and attitude of working robot and its manipulator and apparatus thereof

A controlling apparatus for a position and orientation of a manipulator which is mounted on a moving body comprising an autonomously-traveling truck and which conducts various operations, comprising:

• first matrix means for obtaining a first homogeneous transformation matrix representing a position and orientation of said autonomously-traveling truck in an absolute space;
• second matrix means for obtaining a second homogeneous transformation matrix representing a position and orientation of said manipulator in its operating space wherein said operating space travels along with said truck;
• third matrix means for obtaining a third homogeneous transformation matrix representing a position and orientation of said manipulator derived from position and orientation information of said autonomously-traveling truck in an absolute space on the basis of said first and second homogeneous transformation matrices obtained by said first and second matrix means;
• and
• controlling means for controlling a position and orientation of said manipulator in an absolute space using information of said third homogeneous transformation matrix obtained by said third matrix means during a time when said autonomously-traveling truck is moving, to achieve a target orbit of said manipulator in preparation for work while said truck is traveling.

A working robot, comprising:

• a moving body comprising an autonomously-traveling truck;
• a manipulator which is mounted on said autonomously-traveling truck and which conducts various operations;
• a controlling apparatus for controlling a position and orientation of said manipulator, having:
• first matrix means for obtaining a first homogeneous transformation matrix representing a position and orientation of said autonomously-traveling truck in an absolute space;
• second matrix means for obtaining a second homogeneous transformation matrix representing a position and orientation of said manipulator in its operating space wherein said operating space travels along with said truck;
• third matrix means for obtaining a third homogeneous transformation matrix representing a position and orientation of said manipulator, derived from position and orientation information of the autonomously-traveling truck in an absolute space on the basis of said first and second homogeneous transformation matrices obtained by said first and second matrix means;
• and
• controlling means for controlling a position and orientation of said manipulator in an absolute space using information of said third homogeneous transformation matrix obtained by said third matrix means during a time when said autonomously-traveling truck is moving, to achieve a target orbit of said manipulator in preparation for work while said truck is traveling.