Title:
ROBOT CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2005/063455
Kind Code:
A1
Abstract:
A robot controller leading to drastic reduction of the computational complexity of a CPU and reduction of the load on the CPU. A robot having axes interfering with each other comprises motors (8, 18), arms (9, 19) connected to the motors (8, 18) through reducers, and motor position sensors (10, 20). A controller for controlling this robot is composed of position control sections (1, 11) for moving the axes according to the respective commands for the axes and speed control sections (2, 12). The controller further comprises interference force calculating sections (7, 17) for determining, by calculation from the command on one of the axes, the interference force acting on the other axis, non-inference torque signal generating sections (6, 16) for generating a motor torque command signal to cause the one axis to move according to a command even if there is an interference force exerted by the other axis, and non-interference position signal generating sections (5, 15) for generating a motor position signal to cause the one axis to move according to the command even if there is the interference force exerted by the other axis.
Inventors:
HAGIHARA JUN (JP)
Application Number:
PCT/JP2004/018821
Publication Date:
July 14, 2005
Filing Date:
December 16, 2004
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
HAGIHARA JUN (JP)
HAGIHARA JUN (JP)
International Classes:
B25J13/00; B25J9/16; (IPC1-7): B25J13/00
Foreign References:
| JPH07246580A | 1995-09-26 |
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