Controller for robot and inverse transforming method for robot
US10919149B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 20, 2018 |
| Grant date | Feb 16, 2021 |
| Priority date | — |
| Expiry date | Jun 15, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39079
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot has a vertical 6-axis articulated arm having an offset arm having a fifth axis and length link, and mutually linking fourth and sixth axes. The fourth and sixth axes shaft centers are parallel. The articulated arm has a head portion designated as a control point. A position and an orientation targeted to the control point is processed by an inverse transform to calculate angles of the axes. A provisional target position of the sixth axis is obtained by subtracting the link length from a target position of the sixth axis. The link length to the provisional target position is given zero to perform the inverse transform process. Processed results are evaluated. Until a difference between a calculated sixth-axis angles and provisionally decided sixth-axis angles becomes equal to or less than a predetermined value, processes started from the angle provisional decision of the sixth axis are repeatedly performed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.