Title:
MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2022/196231
Kind Code:
A1
Abstract:
This manipulator comprises: an actuator (30) for moving an end effector to a target position by operating an arm, and a joint of the arm; a position sensor (40) that detects the operation of the actuator (30); an acceleration sensor (50) mounted on the end effector; and a controller (60) that performs feedback control for moving the end effector to the target position while feeding back an output value of the position sensor (40) by driving the actuator (30) on the basis of a position command, and performs vibration prevention control on the basis of an output value of the acceleration sensor (50). The controller (60) enables the vibration prevention control at the time when the output value of the acceleration sensor (50) crosses a reference level after detecting the operation stop timing of the position command.
Inventors:
MINOURA YASUHIRO (JP)
YOSHIHARA KOJI (JP)
NAWA MASAMICHI (JP)
YOSHIHARA KOJI (JP)
NAWA MASAMICHI (JP)
Application Number:
PCT/JP2022/006260
Publication Date:
September 22, 2022
Filing Date:
February 16, 2022
Export Citation:
Assignee:
TOYOTA JIDOSHOKKI KK (JP)
International Classes:
B25J13/08
Foreign References:
| JP2020146794A | 2020-09-17 | |||
| JP2007136975A | 2007-06-07 |
Attorney, Agent or Firm:
SATO Tsutomu et al. (JP)
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