Installation manual

Chapter 6 Programming
6-24
６．５ Tip Position/Orientation (RMRC) Control: 7-axis arm
The tip position/orientation control for the 7-axis arm is as follows:
６．５．１ Tip Position/Orientation (RMRC) Control
PA10 tip position/orientation (RMRC) control 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
Axis value for restriction data during a redundant axis control（ θS1，θS2，･･･ θ
W2 ）
In the 7-axis arm, when the RMRC control, chooses a redundant axis control mode,
a redundant axis (elbow) can be controlled.
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
+（I－J
＃
・J）ξ(θ)・Kｐ
M
M
e
e
m
m
o
o