首页>
外国专利>
AN INDUSTRIAL ROBOT HAVING A KINEMATICALLY REDUNDANT ARM AND A METHOD FOR CONTROLLING THE ROBOT
AN INDUSTRIAL ROBOT HAVING A KINEMATICALLY REDUNDANT ARM AND A METHOD FOR CONTROLLING THE ROBOT
展开▼
机译：具有运动学冗余臂的工业机器人及其控制方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
The present invention relates to an industrial robot having a robot arm with a redundant number of joints and provided with a tool interface and a tool centre point defined in relation to the tool interface, and a method for controlling the robot during teach mode, the method comprises: - receiving information on user instructed movements from the user operated control device, - dividing the instructed movement is into a plurality of increments, - determining joint angles for the robot arm for each of the increments by carrying out an interpolation step for each increment, including calculating joint angles for the increment based on the instructed movement, - checking whether any of the joints of the robot arm is close to its joint limit based on the calculated joint angles and limit values for the joints, and if this is the case, - searching in the null space of the redundant robot arm for a new joint configuration that increases the distance to the joint limit with the tool centre point unchanged, - replacing the calculated joint angles with the joint angles of the new joint configuration, and - moving the robot based on the determined joint angles.
展开▼
