Title:
CONTROL DEVICE FOR COMPENSATION OF ELASTIC DEFORMATION OF ARTICULATED ROBOT
Document Type and Number:
WIPO Patent Application WO/2014/126218
Kind Code:
A1
Abstract:
This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.
Inventors:
NISHIDA YOSHIHARU
WADA TAKASHI
INOUE YOSHIHIDE
INADA SHUICHI
WADA TAKASHI
INOUE YOSHIHIDE
INADA SHUICHI
Application Number:
PCT/JP2014/053531
Publication Date:
August 21, 2014
Filing Date:
February 14, 2014
Export Citation:
Assignee:
KOBE STEEL LTD (JP)
International Classes:
B25J9/10; B23K9/022; B23K9/12; G05B11/36; G05B19/4093; G05B19/414; G05D3/12
Foreign References:
| JP2003280703A | 2003-10-02 | |||
| JPH11134012A | 1999-05-21 | |||
| JP2004005469A | 2004-01-08 | |||
| JP2008004007A | 2008-01-10 | |||
| JP2005186235A | 2005-07-14 | |||
| JPS61201304A | 1986-09-06 | |||
| JPH10217173A | 1998-08-18 | |||
| JP2005102427A | 2005-04-14 | |||
| JPH06222817A | 1994-08-12 | |||
| JPS61201304A | 1986-09-06 | |||
| JP2005186235A | 2005-07-14 | |||
| JP4119011B2 | 2008-07-16 |
Other References:
See also references of EP 2957395A4
Attorney, Agent or Firm:
HAMADA Yuriko et al. (JP)
Yuriko Hamada (JP)
Yuriko Hamada (JP)
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