Title:
多関節ロボットの軌跡制御装置および制御方法
Document Type and Number:
Japanese Patent JP5409844
Kind Code:
B2
Abstract:
In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (¸c), and outputs a processed joint-angle target value (¸d). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).
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Inventors:
Yoshiharu Nishida
Wada
Inoue Yoshihide
Shuichi Inada
Wada
Inoue Yoshihide
Shuichi Inada
Application Number:
JP2012123240A
Publication Date:
February 05, 2014
Filing Date:
May 30, 2012
Export Citation:
Assignee:
KABUSHIKI KAISHA KOBE SEIKO SHO
International Classes:
B25J9/10; B23K9/095; B23K9/12; B25J13/00; G05B19/4093
Domestic Patent References:
| JP10217173A | ||||
| JP6250723A | ||||
| JP11073211A | ||||
| JP11134012A | ||||
| JP3040008A |
Attorney, Agent or Firm:
Toshio Yasuda
Mikio Yasuda
Mikio Yasuda