Patent ID: 9254568
Filing Date: 2016-02-09
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion, the robot control method comprising: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes using the calculated state vectors of the ‘n’ first nodes, and calculating operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ second nodes; calculating operating angles of the ‘n’ first nodes using the calculated operating angle distribution rates of the ‘n’ first nodes and the measured pan motion angle, and calculating operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates of the ‘n’ second nodes and the measured tilt motion angle; estimating a position of an end of the flexible module using the calculated operating angles of the ‘n’ first nodes and the calculated operating angles of the ‘n’ second nodes; and controlling the flexible module based on the estimated position of the end of the flexible module.