Title:
A robot control device and a robot control method
Document Type and Number:
Japanese Patent JP6128767
Kind Code:
B2
Abstract:
A robot control apparatus controls a robot arm driven by transmitting drive forces to joints from respective electric motors so that the robot arm follows a specified trajectory, based on an instruction value instructed against the electric motors. A movable range of the robot arm is divided into multiple spaces, and constraint conditions including a constraint value of a jerk for each joint, which is determined so that a load torque applied to a transmitting component of the drive force falls within an allowable range in the multiple spaces, is calculated in advance. The constraint conditions are stored in a storage unit. A calculating unit generates the instruction values for the electric motors based on the trajectory by solving an optimization problem that uses the constraint conditions stored in the storage unit as an inequality constraint.
Inventors:
Yoji Nakajima
Application Number:
JP2012151733A
Publication Date:
May 17, 2017
Filing Date:
July 05, 2012
Export Citation:
Assignee:
Canon Inc
International Classes:
B25J13/00
Domestic Patent References:
| JP200425355A | ||||
| JP2006528813A | ||||
| JP200873790A | ||||
| JP468406A | ||||
| JP6190207A | ||||
| JP58222307A | ||||
| JP9204216A | ||||
| JP2009277181A | ||||
| JP2003507195A | ||||
| JP201251043A | ||||
| JP2009148850A |
Attorney, Agent or Firm:
Kazuo Chikajima
Takashi Daejeon
Takashi Daejeon