Installation manual

Chapter 6 Programming
6-11
６．４ Tip Position/Orientation (RMRC) Control: 6-axis arm
The following explanation about the tip position/orientation control for the 6-axis arm
is the summarized one. For the 7-axis arm, it is explained in the section 6.5.
６．４．１ Tip Position/Orientation (RMRC) Control
PA10 tip position/orientation (RMRC) control is the method to control arm
providing its tip position/orientation as the target value from the operation control
section. The motion control section calculates interpolation of each tip
position/orientation and controls the position feedback.
In PA10, the tip position/orientation control is called RMRC control.
As target value, there are input values below:
・Tip Position Deviation（ ΔＸ，ΔＹ，ΔＺ ）
・Tip Orientation Deviation（ ΔＹaw，ΔＰitch，ΔＲoll ）
・Tip Position/Orientation ｎx ｏx ａx ｐx
ｎy ｏy ａy ｐy
ｎz ｏz ａz ｐz
Tip position/orientation (RMRC) control are as follows:
・Tip position deviation control
・Tip position orientation control
・Absolute position/orientation designation control
・Tip position/orientation/velocity control
・Current point motion control (Tip linear motion)
・Playback control (Except data for PTP axis interpolation)
・RMRC real-time control mode
Position control gain
K
Ｘ
0
K
Ｙ
0 K
Ｒｏｌｌ
Ｋ
P
－
＋
Current position/orientation
At the base coordinate system
Ｔ =［ｎｏａｐ］
Position orientation
deviation
θ
・
θ
Joint axis
Velocity command
Current value
Target position orientation
At the base coordinate
After interpolation
Ｔ =［ｎｏａｐ］
Joint angle
Coordinate conversion
Position coordinate
conversion
・
θ = J
＃
・V
pw
M
M
e
e
m
m
o
o