Title:
ロボットの制御装置及び制御方法
Document Type and Number:
Japanese Patent JP6379853
Kind Code:
B2
Abstract:
A robot, such an industrial robot, has an arm. The arm has a plurality of rotation members, a plurality of joints each rotatably and mutually connecting adjacent two rotation members, and a plurality of electric servo motors respectively driving the joints. In this robot, every operation cycle, an angular speed is calculated at which to drive each servo motor, and a speed of a monitoring portion set in each rotation member is calculated. It is then determined whether or not the speed at the monitoring portion is equal to or lower than a reference speed. When it is determined that the speed at the monitoring portion is over the reference speed, the angular speed of each servo motor is instructed to reduce such that the speed at each monitoring portion becomes the reference speed or lower. The servo motors are driven at the angular speed that has been reduced.
Inventors:
Kei Ide
Daisuke Kawase
Naoya Kagawa
Daisuke Kawase
Naoya Kagawa
Application Number:
JP2014169893A
Publication Date:
August 29, 2018
Filing Date:
August 22, 2014
Export Citation:
Assignee:
Denso Wave Co., Ltd.
International Classes:
B25J13/00
Domestic Patent References:
| JP2010167515A | ||||
| JP2012196753A | ||||
| JP11104981A | ||||
| JP2006346797A |
Foreign References:
| EP1724072A1 |
Attorney, Agent or Firm:
Tsuyoshi Yamada
Hiroshi Matsuda
Hiroshi Matsuda
Previous Patent: 電子情報記録媒体、プロセッサモジュールの処理方法、及びプロセッサモ...
Next Patent: FLUORINE-CONTAINING ORGANIC COMPOUND
Next Patent: FLUORINE-CONTAINING ORGANIC COMPOUND