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Converse kinematics of 6 degree of freedom robot arms due to sequential search modulo, and the system of the robot which uses that, control manner, being
Converse kinematics of 6 degree of freedom robot arms due to sequential search modulo, and the system of the robot which uses that, control manner, being
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机译：6种自由度的机械臂由于顺序搜索模的逆运动学，采用该控制方式的机器人系统
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摘要
PROBLEM TO BE SOLVED: To provide the inverse kinematics of a sixth degree of freedom robot arm by the successive retrieval method, and further to provide a system, a control method, and a program for a robot using the same inverse kinematics.;SOLUTION: The successive retrieval method obtains an approximate solution of the inverse kinematics for satisfying a target position and posture by successively carrying out the inverse kinematics of 3 articulations for the positional correction and the postural correction of a hand respectively using appropriate correcting weights so as to match the target position and posture of the hand as shown in the flow chart in Fig. 3 for the arbitrarily structured sixth degree of freedom robot arm. In addition, the successive retrieval method proposes the evaluated value based on the mechanismic relation of 2 articulations of the hand in terms of the angle of the sixth articulation, and can confirm the existence and the number of the solutions of the inverse kinematics for the arbitrary target positions and postures, and can obtain solutions as many as possible. In addition, the successive retrieval method can be used for the control of the target position and posture of the hand of the articulated robot having an arbitrary structure, and the control of the various shapes of the arm for the fixed position and posture of the hand.;COPYRIGHT: (C)2008,JPO&INPIT
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