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Title:
ELASTIC-DEFORMATION-COMPENSATION CONTROL DEVICE FOR ARTICULATED ROBOT, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2013/180223
Kind Code:
A1
Abstract:
In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (θmc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (θmd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).

Inventors:
NISHIDA YOSHIHARU
WADA TAKASHI
INOUE YOSHIHIDE
INADA SHUICHI
Application Number:
PCT/JP2013/065057
Publication Date:
December 05, 2013
Filing Date:
May 30, 2013
Export Citation:
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Assignee:
KOBE STEEL LTD (JP)
International Classes:
B25J9/10; B23K9/095; B23K9/12; G05B19/4093
Foreign References:
JP2005186235A2005-07-14
JPS61201304A1986-09-06
JPS63212483A1988-09-05
JP2003280703A2003-10-02
JP2005102427A2005-04-14
JPH10217173A1998-08-18
JPH10329063A1998-12-15
JPH106261A1998-01-13
JPS61201304A1986-09-06
JP2005186235A2005-07-14
Other References:
See also references of EP 2857151A4
Attorney, Agent or Firm:
HAMADA Yuriko et al. (JP)
Yuriko Hamada (JP)
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