ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, PROGRAM, RECORDING MEDIUM, AND ROBOT SYSTEM

WIPO Patent Application WO/2013/176212

A1

Even if there is an error in a kinematic operation in both a robot main body and a camera, an end effector (4) can be moved to a target position, and the burden of calibration is reduced. Positional deviation integrated torque obtained by an integration operation with a value commensurate with positional deviation (Δp) is superimposed with torque based on angular deviation (Δq) and applied to an articulation (Q). If movement of the articulation (Q) stops or attempts to stop before the end effector (4) reaches a target position (pd) because there is an error in a kinematic operation, the positional deviation integrated torque increases together with time and the articulation (Q) which stops or attempts to stop is made to move, and the end effector (4) is moved to the target position (pd). Consequently, even if there is an error in a kinematic operation, the end effector (4) can be reliably moved to the target position (pd) by the positional deviation integrated torque function, and the burden of calibration can be reduced.

KAWAMURA SADAO (JP)
ONISHI HIROYUKI (JP)

PCT/JP2013/064324

November 28, 2013

May 23, 2013

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RITSUMEIKAN TRUST (JP)
DAINIPPON SCREEN MFG (JP)

B25J13/08; B25J9/10

JP2007011978A	2007-01-18
JPH05228863A	1993-09-07

CHEAH, C. C. ET AL.: "Approximate Jacobian Control for Robots with Uncertain Kinematics and Dynamics", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, vol. 19, no. 4, 2003, pages 692 - 702

FURIKADO, Shoichi et al. (JP)
Swing angle Shoichi (JP)

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