Title:
VIBRATION SUPPRESSION AND CONTROL DEVICE FOR ROBOT AND ITS CONTROL METHOD
Document Type and Number:
Japanese Patent JP3442941
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a vibration suppression and control device for a robot and its control method which can obtain a sufficient vibration suppressing effect to an arm with a low rigidity having plural joints, and having a peculiar low vibration frequency less than several Hz.
SOLUTION: A robot furnishes an arm 10 having plural arm links connected each other through joints, and an acceleration sensor 5 is provided near the front end of the arm 10. A control device 8 to control the movement of the arm 10 has a servodriver 14-i to drive the joints of the arm 10 depending on a speed instruction value. The acceleration amount detected by the acceleration sensor 5 is input to an operation part 12. The operation part 12 calculates the compensation component of each joint to compensate the speed instruc-tion value of each joint to the servodriver 14-i, in order to supress the vibration generated at the front end of the arm 10 depending on this acceleration amount, and the value multiplying a gain Kαi to the calculated compensation component of each joint, is subtracted from the corresponding speed instruction value.
Inventors:
Hideki Ogawa
Toshiya Umeda
Toshiya Umeda
Application Number:
JP26004796A
Publication Date:
September 02, 2003
Filing Date:
September 30, 1996
Export Citation:
Assignee:
Toshiba Corporation
International Classes:
B25J9/12; B25J9/10; B25J13/08; B25J19/06; (IPC1-7): B25J13/08; B25J9/10; B25J19/06
Domestic Patent References:
| JP740268A | ||||
| JP4193490A | ||||
| JP6123212A |
Attorney, Agent or Firm:
Kazuo Sato (3 others)
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