Title:
MOTION CONTROL DEVICE FOR ARTICULATED ARM MECHANISM, AND ROBOT DEVICE
Document Type and Number:
WIPO Patent Application WO/2016/175157
Kind Code:
A1
Abstract:
In order to eliminate or reduce position errors in the movement control of a robot arm, a motion control device (100) of a robot device is provided with: a current position/orientation calculation unit (104) that calculates the current position of a point of interest from a current plurality of joint variables corresponding to a plurality of joints (J1-J6); a trajectory calculation unit (105) that calculates the trajectory from the current position to a final target position; a command value calculation unit (106) that calculates movement velocities on the basis of a unit of time and the distance from each of a plurality of target positions to the subsequent target position for each unit of time on the trajectory, converts the calculated movement velocities to a plurality of joint angular velocities of the plurality of joints (J1-J6) according to a Jacobian inverse matrix corresponding to the structure of a robot arm mechanism (200), and calculates, as a plurality of command values, a plurality of joint variables corresponding to the subsequent target position from the plurality of joint angular velocities and the unit of time; and a driver control unit (103) that respectively outputs the plurality of command values to a plurality of motor drivers (201, 203, 205, 207, 209, 211).
Inventors:
YOON WOO-KEUN (JP)
KAWAGUCHI MASATERU (JP)
KAWAGUCHI MASATERU (JP)
Application Number:
PCT/JP2016/062862
Publication Date:
November 03, 2016
Filing Date:
April 24, 2016
Export Citation:
Assignee:
LIFE ROBOTICS INC (JP)
International Classes:
B25J9/10; B25J18/02
Domestic Patent References:
| WO2011152265A1 | 2011-12-08 |
Foreign References:
| JP2010102409A | 2010-05-06 | |||
| JPS63289606A | 1988-11-28 | |||
| JP2013240847A | 2013-12-05 |
Attorney, Agent or Firm:
SEVEN COLOR PATENT FIRM (JP)
It is a じいろ patent firm to a patent business corporation. (JP)
It is a じいろ patent firm to a patent business corporation. (JP)
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