Title:
ロボット制御装置
Document Type and Number:
Japanese Patent JP3981773
Kind Code:
B2
Abstract:
When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref_L, Xref_U with respect to the electric motors and outputs model motor position commands θMm_L, θMm_U, model motor speed commands θ/<.>Mm_L, θ/<.>Mm_U, and model feed-forward commands UFF_L, UFF_U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. The model controller (1) outputs the model feed-forward commands with the corrective quantities added thereto.
Inventors:
Masao Ojima
Kayazaki Hirokazu
Hidenori Tomisaki
Kayazaki Hirokazu
Hidenori Tomisaki
Application Number:
JP13854397A
Publication Date:
September 26, 2007
Filing Date:
May 28, 1997
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
B25J9/10; B25J9/12; B25J9/16; B25J9/18; G05B11/32; G05B19/18; G05B19/19
Domestic Patent References:
| JP9212203A | ||||
| JP10128688A | ||||
| JP10006261A | ||||
| JP9222910A | ||||
| JP8249067A | ||||
| JP8066893A | ||||
| JP4160604A | ||||
| JP1171004A | ||||
| JP7223185A | ||||
| JP2076692A | ||||
| JP2224991A |
Attorney, Agent or Firm:
Akio Miyazaki
Masaaki Ogata
Nobuyuki Kaneda
Katsuhiro Ito
Ishibashi Masayuki
Masaaki Ogata
Nobuyuki Kaneda
Katsuhiro Ito
Ishibashi Masayuki