Title:
外力検出方法
Document Type and Number:
Japanese Patent JP6711536
Kind Code:
B2
Abstract:
This external force detecting method is configured such that: an acceleration detector (4) detects the acceleration of a fixed portion (101); a position detector (2) detects the position of a movable portion (102) relative to the fixed portion (101); a position control means (subtractor (5) and gain adjusting portion (6)) outputs a current command value Irp based on a difference between the position detected by the position detector (2) and a reference position Pr; an acceleration compensating portion (8) outputs an acceleration compensation value Irc based on a result obtained by multiplying the acceleration detected by the acceleration detector (4) by the total mass of the movable portion (102), an end effector (12) and a workpiece (50); an adder/subtractor (9) adds the acceleration compensation value Irc to the current command value Irp; a constant current control portion (10) matches a current value of a drive current Ia to a current command value Ir; and an external force detecting portion (11) detects an external force F on the basis of a result obtained by subtracting the acceleration compensation value Irc from the current value of the drive current Ia.
Inventors:
Shigeru Kawase
Application Number:
JP2016211596A
Publication Date:
June 17, 2020
Filing Date:
October 28, 2016
Export Citation:
Assignee:
Azbil Co., Ltd.
International Classes:
G01L1/00; B25J13/08; G05B11/36
Domestic Patent References:
| JP2010182084A | ||||
| JP2009045687A | ||||
| JP2009271783A | ||||
| JP2003159674A | ||||
| JP2007141189A |
Foreign References:
| US20090003146 |
Attorney, Agent or Firm:
Hideaki Tazawa
Hamada Hatsune
Nakashima Shigeru
Tatsuya Sakamoto
Tsujioka Masaaki
Kazuma Inoue
Hamada Hatsune
Nakashima Shigeru
Tatsuya Sakamoto
Tsujioka Masaaki
Kazuma Inoue