Axis angle determination method for six-axis robot and control apparatus for six-axis robot
US9248572B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 15, 2014 |
| Grant date | Feb 2, 2016 |
| Priority date | — |
| Expiry date | Sep 15, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/14
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
In an axis angle determination method, an angle or a position of each axis of a six-axis robot is determined. The robot is capable of taking an attitude of a singular point being a state in which rotation axes of fourth and sixth axes match. Based on teaching results of a position and attitude of a hand by point-to-point teaching, the method judges whether an attitude of the robot in which the angle or the position of each angle is to be determined next is a singular point. If judged that the attitude is the singular point, angles of the fourth and sixth axes required for the six-axis robot to move to the singular point are determined such that an angle of one of the fourth and sixth axes is fixed to a current value and an angle of the other axis is determined based on the fixed angle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.