G - Physics – 05 – D
Patent
G - Physics
05
D
G05D 3/20 (2006.01) B25J 9/16 (2006.01)
Patent
CA 2045438
The present invention discloses a control device whereby a means for detecting a velocity or an acceleration is provided in a main robot body, a velocity or acceleration expressed in a robot coordinate system is detected from the detection means, and an output from the detection means is added to a desired value that is expressed in an absolute coordinate system that is an inertial reference frame of an arm of the robot. In this way, the robot arm can be made to follow any desired path, by using desired positions in the absolute coordinate system that is an inertial coordinate system.
Ioi Kiyoshi
Katsuragawa Takashi
Miki Osamu
Noro Osamu
Kawasaki Jukogyo Kabushiki Kaisha
Riches Mckenzie & Herbert Llp
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