Patent ID: 6540473
Filing Date: 2003-04-01
Classification: B25J,B66F,H02G,Y10T

Abstract:
A method for controlling a robot vehicle for hot-line job comprising a manipulator including articulated manipulators, each articulated manipulator of said articulated manipulators having fingertips, a base having slide mechanisms on which said articulated manipulators are mounted and a controller for controlling said articulated manipulators and slide mechanisms, whereinto decide an angle of each articulation of said articulated manipulators and a position of the base having the slide mechanisms when a position and an orientation of fingertips are given as target values, the position and the orientation of said fingertips are given as target values to decide the angle of each articulation of said articulated manipulators and the position of the base having the slide mechanisms by adding the distance between origins of said articulated manipulators and points at which the positions of the articulated manipulators are decided to control conditions for course calculations to decide the position of the base having the slide mechanisms, thereby controlling the courses of the base having the slide mechanisms and articulated manipulators simultaneously.