1996 Volume 14 Issue 2 Pages 321-326
An intelligent robot system in which the working procedure and the moving trajectory of a robot can be generated based on the design data of the assembled objects and the working specification is needed for the flexible manufacturing. It is easy to calculate the position of the endeffector and the robot posture based on each joint angle of the robot. But, it is difficult to calculate each joint angle of the robot based on the position of the endeffector and the robot posture. Moving trajectory of the robot is determined in the area where the robot can move and the posture can be settled in each position of the endeffector. In this report, generation system of moving trajectory based on the movable posture map is proposed. Movable posture map is generated easily based on the posture calculated by each joint angle. Movable posture map is expressed by maximum posture angle and minimum posture angle for the distance from a basis joint of a robot to a endeffector. By using this movable posture map, moving trajectory and posture on its trajectory can be selected easily in the movable posture range of a robot.