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Title:
FLEXIBLE CONTROLLER FOR ROBOT
Document Type and Number:
Japanese Patent JP3286842
Kind Code:
B2
Abstract:

PROBLEM TO BE SOLVED: To perform the flexibility setting of one conversion for one degree of freedom and the displacement of a large stroke and to perform flexible control in a task coordinate system by simple coordinate transformation by changing force and torque in the task coordinate system to the limit value of the torque of a joint coordinate system.
SOLUTION: This controller is constituted of a torque limiter 102, a servo amplifier (torque control) 104, a servo motor 105, a position detector 106, a task coordinate force/torque limit setting means 107 and the arithmetic means 108 of the transposed matrix of Jacobian. Then, the present state of a robot is detected, the correspondence relation of the minute displacement of the task coordinate system and the joint coordinate system generally called as the Jacobian is obtained based on the detected value, the arrangement matrix is calculated and thus, the limit value of the torque in the joint coordinate system is calculated from the limit value of the force in the task coordinate system. Thus, flexibility is controlled by deciding one variable for one degree of freedom.


Inventors:
Inoue, Yasuyuki
Nagata, Hideo
Application Number:
JP35057095A
Publication Date:
May 27, 2002
Filing Date:
December 23, 1995
Export Citation:
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Assignee:
YASKAWA ELECTRIC CORP
International Classes:
B25J13/00; G05B13/02; G05D3/00; G05D3/12; G05D17/02; (IPC1-7): G05D3/12; B25J13/00; G05B13/02; G05D3/00