Title:
FORCE CONTROLLER
Document Type and Number:
Japanese Patent JP3192227
Kind Code:
B2
Abstract:
PURPOSE: To restrain vibration and improve action speed and responsiveness at the time of force control by multiplying by a predetermined gain a relative speed between a robot arm and a robot hand calculated from the output of a displacement sensor, conducting feedback to the speed command of the robot arm.
CONSTITUTION: In the case of a force controller, a feedback loop 101 is provided anew. A difference between a robot arm position 20 and a robot hand position 25, that is, the output 21 of a displacement sensor is inputted into a differentiater 26, and a relative speed between the arm and the hand is outputted from the differentiater 26 and inputted into a proportional compensator 28, and this relative speed is multiplied by a predetermined gain, and the output 29 of the proportional compensator 28 is subjected to negative feedback to a speed command. This feedback loop 101 is for damping the vibration of the robot hand and actuates the robot arm in a direction in which the extension/ contraction speed of the spring element of a compliance mechanism portion becomes 0, that is, a direction that damps vibration.
Inventors:
Kiyoshi Ito
Application Number:
JP19458192A
Publication Date:
July 23, 2001
Filing Date:
June 30, 1992
Export Citation:
Assignee:
Citizen Watch Co., Ltd.
International Classes:
B25J9/18; B25J13/00; G05B11/36; G05B19/404; G05B19/416; G05D3/12; G05D15/01; G05D19/02; (IPC1-7): B25J9/18; B25J13/00; G05B11/36; G05B19/404; G05D3/12
Domestic Patent References:
| JP2212086A |