Robot control system for moving a position and pose of a hand of

Details Robot control system for moving a position and pose of a hand of Robot control system for moving a position and pose of a hand of

1994-11-10

1996-04-09

Downs, Robert W.

Robots

Counterbalance

395 80, 395 86, 395901, 901 15, G06F 1550

Patent

active

055069398

ABSTRACT:
A control system for a robot including a teaching box having a hand alignment command section, and a control unit for controlling the robot. A hand-alignment movement-amount computing section computes an amount of movement of each axis of the robot in a hand alignment operation. A drive section commands operation directly to the robot. A present-position data memory section stores data indicating a present position of a hand, and a present-pose data memory section stores data indicating a present pose of the hand. The present-pose and present-position data are converted from a base coordinate system to a working coordinate system, and the hand-alignment movement-amount computing section computes a destination pose and position therefrom. The destination pose and position are then converted back to the base coordinate system and output to the drive section to move the hand of the robot. An optional pose memory section stores pose data of the the hand, required for the teaching operation, and a pose-data modifying section depending on the desired pose modifies the data of the pose memory section. A pose memory command section is used to select which one of the desired poses will be used for hand alignment.

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patent: 5265195 (1993-11-01), Jinno et al.
Liu et al, "The Multi-Dimensional Quality Task Requirements for Dextrous Robot Hand Control", Proc 1989 IECC Int'l Con on Roboting-Automotion, May 14-19, 1989, pp. 452-457, vol. 1.

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