Title:
ROBOT CONTROL DEVICE
Document Type and Number:
Japanese Patent JP2016043417
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a robot control device capable of obtaining filter characteristics as intended by a designer, while considering safety and the like.SOLUTION: A robot control device includes: a position command generating portion 20 which generates a position command instructing a position of a moving body; a position command filter 21 (a position command trajectory generating portion) which has a filter that reduces specific frequency components of the position command, and generates a position command trajectory that is a target value when controlling the moving body; and a motor control portion 22 (a control portion) which controls the moving body on the basis of the position command trajectory. The filter of the position command filter 21 is designed so as to restrict a limit value of output speed decided by the position command trajectory, by a limit value of input speed decided by the position command.SELECTED DRAWING: Figure 2
Inventors:
HIROSE NORIAKI
TAJIMA RYUSUKE
KITAKADO YOSHIMI
KOMINAMI TETSUYA
SATO TETSUYA
NAGAMATSU KENJI
KAWASE DAISUKE
TAJIMA RYUSUKE
KITAKADO YOSHIMI
KOMINAMI TETSUYA
SATO TETSUYA
NAGAMATSU KENJI
KAWASE DAISUKE
Application Number:
JP2014166687A
Publication Date:
April 04, 2016
Filing Date:
August 19, 2014
Export Citation:
Assignee:
TOYOTA CENTRAL RES & DEV
DENSO CORP
DENSO WAVE INC
DENSO CORP
DENSO WAVE INC
International Classes:
B25J19/06
Attorney, Agent or Firm:
Patent Business Corporation Sato International Patent Office