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Title:
ROBOT CONTROL METHOD AND ROBOT CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2022/259874
Kind Code:
A1
Abstract:
In this robot control method, a position deviation increment (Δθd-Δθ) is computed on the basis of a position command increment (Δθd) and a position increment (Δθ). A position deviation (e) is computed on the basis of the position deviation increment (Δθd-Δθ). A speed command (ωd) is computed on the basis of the position deviation (e) and a gain (K). An actuator 30 is driven by supply of a current (i) that corresponds to the speed command (ωd). When an emergency stop command has been outputted, the position deviation increment (Δθd-Δθ) is multiplied by a prescribed coefficient (C) that is greater than 1.0.

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Inventors:
IWATANI MASAYOSHI
HASHIMOTO ATSUMI
NAKATA HIROYUKI
HONUCHI YASUYOSHI
YAMAMOTO RYOSUKE
UEDA HIROYOSHI
Application Number:
PCT/JP2022/021498
Publication Date:
December 15, 2022
Filing Date:
May 26, 2022
Export Citation:
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Assignee:
PANASONIC IP MAN CO LTD (JP)
International Classes:
B25J19/06
Domestic Patent References:
WO2013005388A12013-01-10
Foreign References:
JP2016082850A2016-05-16
Attorney, Agent or Firm:
KAMATA Kenji et al. (JP)
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