Title:
MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2022/244441
Kind Code:
A1
Abstract:
This manipulator comprises an arm (20), an actuator (30), a position sensor (40), an acceleration sensor (50), and a controller (60). The controller (60) performs a feedback control to move an end effector to a 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 also performs a vibration reducing control to reduce vibration of the end effector on the basis of an output value of the acceleration sensor (50). The controller (60) has a time setting unit (70) for setting a duration of the vibration reducing control, and the time setting unit (70) determines the duration in accordance with vibration frequency information about the end effector.
Inventors:
MINOURA YASUHIRO (JP)
YOSHIHARA KOJI (JP)
NAWA MASAMICHI (JP)
YOSHIHARA KOJI (JP)
NAWA MASAMICHI (JP)
Application Number:
PCT/JP2022/012503
Publication Date:
November 24, 2022
Filing Date:
March 18, 2022
Export Citation:
Assignee:
TOYOTA JIDOSHOKKI KK (JP)
International Classes:
B25J13/08; G05B11/36
Foreign References:
| JP2018171666A | 2018-11-08 | |||
| JPS6234788A | 1987-02-14 | |||
| JPH01173117A | 1989-07-07 | |||
| JP2015231663A | 2015-12-24 | |||
| JPH10235582A | 1998-09-08 | |||
| JPH06138950A | 1994-05-20 | |||
| JP2016083713A | 2016-05-19 |
Attorney, Agent or Firm:
SATO Tsutomu et al. (JP)
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