Abstract
This paper is concerned with an operating method which controls the position and orientation of a tool attached to a manipulator hand to translate and rotate at constant velocity.
We propose an operating equation in which the time dependent term is treated as a discrete variable, while it is treated as the continuous variable in the conventional path control-methods. The equation is composed of a transformation matrix, Th(0) of the hand at t=0 and two constant matrices, P(T) and R(T) which represent the translation and rotation. At t=nT, the transformation matrix, Th(nT) is represented as follows.
Th(nT)={P(T)}nTh{R(T)}n.
The above equation has a simple form and is proved effective to shorten the calculation time.
Finally, by applying it to control a manipulator with six degrees of freedom, some problems of numerical interpolation are discussed.
