Title:
ROBOT SYSTEM, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2013/183190
Kind Code:
A1
Abstract:
Provided are a robot system (10), a robot control device (14), and a robot system (10) control method capable of automatically generating teaching positions and movement tracks that reduce the energy consumed by a redundant robot. The robot system (10) is provided with a robot (12) having multiple joint axes that include a redundant axis and a robot control device (14). The robot control device (14) comprises: a first command-generating unit (14a) for generating an angular velocity command for a first joint of the robot (12) to reduce movement energy; a first optimized action command-generating unit (14b) that generates a joint angular velocity command (A) for the robot (12) to perform an arm-lowering movement; a zero space matrix-calculating unit (14d) for calculating a zero space matrix of a Jacobi matrix relating to a control point; a second command-generating unit (14e) for generating an angular velocity command for a second joint of the robot (12) on the basis of the joint angular velocity command (A) and the zero space matrix; and a control unit (14f) for controlling the servo motors.
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Inventors:
KAMIYA YOSUKE (JP)
YASUDA KEN ICHI (JP)
ANDO SHINGO (JP)
YASUDA KEN ICHI (JP)
ANDO SHINGO (JP)
Application Number:
PCT/JP2012/083299
Publication Date:
December 12, 2013
Filing Date:
December 21, 2012
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
International Classes:
B25J13/00
Foreign References:
| JP2009521751A | 2009-06-04 | |||
| JP2006334774A | 2006-12-14 | |||
| JP2000354988A | 2000-12-26 |
Other References:
"Jacobian o Mochiita Gyaku Undogaku", TMPSWIKI, 1 February 2008 (2008-02-01)
MINORU ASADA, ROBOTICSHANDBOOK-2ND ED., CORONA PUBLISHING CO.,LTD., GORAI,, pages 285 - 287
SHUGEN MA: "Efficient Redundancy Control of Redundant Manipulators", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 14, no. 5
MINORU ASADA, ROBOTICSHANDBOOK-2ND ED., CORONA PUBLISHING CO.,LTD., GORAI,, pages 285 - 287
SHUGEN MA: "Efficient Redundancy Control of Redundant Manipulators", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 14, no. 5
Attorney, Agent or Firm:
NAKAMAE Fujio et al. (JP)
Fujio Nakamae (JP)
Fujio Nakamae (JP)
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