PTPロボットの制御における大変位問題の解
1979 年 45 巻 530 号 p. 148-153
詳細
1979 年 45 巻 530 号 p. 148-153
It is frequently observed that a PTP (point-to-point) robot shows unexpected singular motion in case of large displacement. This is because of the controlling method used whichattempts to give the maximum speed to any axis. In this report another method of controllingis proposed, which gives the same motion characteristics to all axes in the same period, justlike as cam-controlled. Computer simulation has proved that the resultant hand motion isvery similar to the given axes motion, and the motion locus is smooth and has no singularityby utilizing this method.
