CONTROL METHOD OF REDUCTANT MANIPULATOR

PROBLEM TO BE SOLVED: To provide a control method of a reductant manipulator of high speed capable of achieving a solution of a problem on reverse kinematics by properly assigning one or a plurality of reductant joints from the plurality of joints even in the reductant manipulator of a general structure capable of being provided with the plurality of reductant joints. SOLUTION: The joints are arbitrarily partitioned into the reductant joints and non-reductant joints (S1), and an initial value is determined by applying a joint angle of the partitioned reductant joint as a parameter (S3). The joint angle of the non-reductant joint is solved as a numerical value solution by reverse kinematic calculation (S4). The optimum solution of a set of the joint angles is determined on the basis of evaluation function defined by the joint angle of the reductant joint given as the parameter, and the joint angle of the non-reductant joint determined by the reverse kinematic calculation in accordance with the changed parameter, or constraint conditions (S2) (S5)-(S7), and a procedure for determining the optimum solution is repeated by easing the constraint conditions until the optimum solution covers a target range of a hand position (S8). COPYRIGHT: (C)2005,JPO&NCIPI