Title:
TORQUE COMPENSATION DEVICE AND TORQUE COMPENSATION METHOD
Document Type and Number:
WIPO Patent Application WO/2021/006038
Kind Code:
A1
Abstract:
The present invention includes: a data acquisition unit (1) for acquiring a torque detected by a torque sensor mounted on a robot arm and a joint angle of the robot arm when the torque sensor detected the torque; a compensation value calculation unit (42) for calculating, on the basis of a compensation function that is a periodic function of a torque disturbance, caused by a speed reducer having a rotating mechanism, with respect to the joint angle, and the joint angle acquired by the data acquisition unit (1), a torque compensation value for compensating an error in the joint angle due to the torque disturbance; a residual error calculation unit (43) for calculating, as a compensated torque, a residual error between the torque acquired by the data acquisition unit (1) and the torque compensation value calculated by the compensation value calculation unit (42); and an output unit (44) for outputting data showing the compensated torque calculated by the residual error calculation unit (43).
Inventors:
NAKAZAWA YUYA (JP)
MOTEGI TAKAHIRO (JP)
TABARU TETSUYA (JP)
MOTEGI TAKAHIRO (JP)
TABARU TETSUYA (JP)
Application Number:
PCT/JP2020/024788
Publication Date:
January 14, 2021
Filing Date:
June 24, 2020
Export Citation:
Assignee:
AZBIL CORP (JP)
International Classes:
B25J9/10; B25J13/08
Domestic Patent References:
| WO2010090059A1 | 2010-08-12 |
Foreign References:
| JP2009285824A | 2009-12-10 | |||
| JPH10243676A | 1998-09-11 | |||
| JPH0887330A | 1996-04-02 | |||
| JP2013066965A | 2013-04-18 | |||
| CN107538494A | 2018-01-05 |
Attorney, Agent or Firm:
SANNO PATENT ATTORNEYS OFFICE (JP)
Download PDF: