Title:
ROBOT CONTROL DEVICE
Document Type and Number:
Japanese Patent JP3588956
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To set a flexible degree to external force constant, and stabilize driven operation by performing an operation on a gravitational torque value according to a robot posture, deciding a limiting value of a supply electric current to a sevomotor on the basis of its value, and controlling the supply electric current within the limiting value.
SOLUTION: A central processing unit successively performs an operation on a gravitational torque value by turning a robot into a model. An electric current limiting part 403 limits an electric current command value to respective shafts of respective servo units by this gravitational torque value. That is, when a driven operation mode is set, upper and lower limit values to the electric current command value from a speed loop 402 to which a gravitational torque feedforward 405 and an acceleration feedforward 406 are inputted, are decided. The electric current command value is limited so as to come in between the upper and lower limit values of this electric current. Therefore, it can be set as a limiting value corresponding to a postural change, and the action of excessive force by a driven movement is prevented, and durability of a robot can be improved.
Inventors:
Katsuhiro Komuro
Yoshiji Yamamoto
Yoshiji Yamamoto
Application Number:
JP4947497A
Publication Date:
November 17, 2004
Filing Date:
March 04, 1997
Export Citation:
Assignee:
Toyota Koki Co., Ltd.
International Classes:
B25J13/00; (IPC1-7): B25J13/00
Domestic Patent References:
| JP7200033A | ||||
| JP8155868A | ||||
| JP3236925A |