Title:
ROBOT CONTROL METHOD, ROBOT DEVICE, PROGRAM AND RECORD MEDIUM
Document Type and Number:
Japanese Patent JP2015199149
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To effectively suppress resonance of a robot.SOLUTION: A robot is operated according to an operation program (S2: operation process). A determination is made as to whether or not the robot is resonated from vibration detected by a force sensor (S4: determination process). In the case that the robot is resonated, a characteristic frequency of the robot is calculated (S5: characteristic frequency calculation process). A vibration frequency of each joint is calculated from vibration detected by each vibration detection part (S11: vibration frequency calculation process). A joint which generates resonance of the robot is identified by comparison between the characteristic frequency and each vibration frequency (S6: identification process). A rotation number of an electric motor of a joint driving part for driving the identified joint is altered and the operation program is updated (S7: update process).
More Like This:
Inventors:
AKIMASA KEN
Application Number:
JP2014078098A
Publication Date:
November 12, 2015
Filing Date:
April 04, 2014
Export Citation:
Assignee:
CANON KK
International Classes:
B25J13/08; G05D19/02
Domestic Patent References:
| JPH04314109A | 1992-11-05 | |||
| JP2011136391A | 2011-07-14 | |||
| JP2013061834A | 2013-04-04 | |||
| JP2014034101A | 2014-02-24 | |||
| JPH0425386A | 1992-01-29 | |||
| JP2005211993A | 2005-08-11 | |||
| JPH04322988A | 1992-11-12 | |||
| JP2011152634A | 2011-08-11 | |||
| JPH0355187A | 1991-03-08 | |||
| JPS58202792A | 1983-11-26 | |||
| JP2011224662A | 2011-11-10 | |||
| JPH04261790A | 1992-09-17 | |||
| JPH04310112A | 1992-11-02 | |||
| JP2006281421A | 2006-10-19 |
Foreign References:
| US5049797A | 1991-09-17 |
Attorney, Agent or Firm:
Kazuo Chikajima
Takashi Daejeon
Takashi Daejeon