Installation manual

Chapter 6 Programming
6-33
６．５．３ Elbow Control NOT changing the tip position/orientation
（１）Redundant Axis Velocity Control
One of the methods to control elbow position without changing the tip position/
orientation. In this PA10 link composition, the S3-axis is the KEY axis for elbow
control. In this control, the rotation shift velocity (Ｖθs3) is provided to the S3-axis
to actuate the elbow.
For further information, refer to “Redundant axis Control” in the section 6.6
（２）Redundant Axis Restriction Parameter Control
The control method is as similar as (1).
For further information, refer to “Redundant axis Control” in the section 6.5.5
（３）Redundant Axis Shifting Control
The control method is as similar as (1).
For further information, refer to “Redundant axis Control” in the section 6.5.5
R
R
e
e
f
f
e
e
r
r
e
e
n
n
c
c
e
e
R
R
e
e
f
f
e
e
r
r
e
e
n
n
c
c
e
e
R
R
e
e
f
f
e
e
r
r
e
e
n
n
c
c
e
e