초록 ▼

An articulated robot arm (10) comprises n arm sections (13, 16, 18, 21) pivotally mounted one to the other. A plurality of independently controlled servomotors (12, 14, 17, 19) at each of the arm joints moves the tip (22) of the arm towards the desired location. All arm angles are measured with resp

An articulated robot arm (10) comprises n arm sections (13, 16, 18, 21) pivotally mounted one to the other. A plurality of independently controlled servomotors (12, 14, 17, 19) at each of the arm joints moves the tip (22) of the arm towards the desired location. All arm angles are measured with respect to a common reference plane, e.g. the horizon.

대표청구항 ▼

A method of moving the extremity of an articulated, robot arm from a first to a second location, said arm including n arm sections pivotally mounted one to the other thereby defining n arm joints, said method comprising the steps of: measuring the angle that each of said arm sections makes with resp

A method of moving the extremity of an articulated, robot arm from a first to a second location, said arm including n arm sections pivotally mounted one to the other thereby defining n arm joints, said method comprising the steps of: measuring the angle that each of said arm sections makes with respect to a common, fixed reference plane; and then rotating m of said joints to move said extremity towards said second location, 1≤m≤n, the rotation of each joint being made proportional to the desired change in the corresponding angle.