Title:
LOAD PARAMETER ESTIMATING METHOD
Document Type and Number:
Japanese Patent JP3835641
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a method decreasing an error in an estimation calculation value, able to estimate an accurate load parameter.
SOLUTION: In a load parameter estimating method, in the case of controlling a servomotor driving a multi-shaft robot having a link mechanism, from a motor torque command value of each shaft, data of a motor position and an arm length of each shaft, estimation calculating weight and a position of the center of gravity of a load mounted in a tip end of a robot arm, first based on the motor torque command value of a shaft including the center of rotation of the shaft having the link mechanism, motor position data, and the arm length, weight of the load is estimation calculated, next based on the motor torque command value of the other shaft, motor position data, and the arm length, a position of the center of gravity of the load is calculated. A characteristic of the link mechanism is effectively utilized, weight of the load in a tip end is calculated, calculation is very simple, an error of each shaft is prevented from being accumulated, as a result, tip end load weight Mg can be accurately calculated.
Inventors:
Atsushi Hagiwara
Yasuyuki Inoue
Yasuyuki Inoue
Application Number:
JP21097197A
Publication Date:
October 18, 2006
Filing Date:
August 05, 1997
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
B25J13/00; B25J13/08; B25J19/00; (IPC1-7): B25J13/08; B25J19/00
Domestic Patent References:
| JP991004A | ||||
| JP61249287A | ||||
| JP3202288A | ||||
| JP457684A | ||||
| JP7261844A |
Attorney, Agent or Firm:
Masu Kobori
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