ROBOT DEVICE, ROBOT CONTROL METHOD, PROGRAM AND RECORDING MEDIUM

Japanese Patent JP2015131385

A

PROBLEM TO BE SOLVED: To provide a robot device, a robot control method, a program and a recording medium which improves movement precision of a robot arm when an end effector is positioned on an operation starting position and secures compliance of the robot arm upon operation.SOLUTION: A joint driving part 230 which drives a joint of a robot arm includes a motor 231, a speed reducer 233 which reduces rotation of the motor 231, an input side encoder 235 which detects a rotation angle of a rotation shaft of the motor 231 and an output side encoder 236 which detects a rotation angle of an output shaft of the speed reducer 233. When an end effector is positioned on an operation starting position on which the robot starts a prescribed operation, a movement of the robot is controlled while an angle of the joint is set in such an output control mode as to perform feedback control based on an angle detection value of the output side encoder 236. When the robot performs a predetermined operation, the movement of the robot is controlled while the angle of the joint is subjected to setting change in such an input control mode as to perform feedback control based on an angle detection value of the input side encoder 235.

OZAKA TSUTOMU

JP2014249690A

July 23, 2015

December 10, 2014

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CANON KK

B25J13/08

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JP2011140099A	2011-07-21

WO2009034957A1	2009-03-19
US20120330463A1	2012-12-27

Kazuo Chikajima
Takashi Daejeon

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