Title:
ROBOT CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2001/038048
Kind Code:
A1
Abstract:
A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for controlling a motor for driving a joint by means of a control circuit having a position/speed state feedback loop, comprising means for measuring the angle of a joint of a robot, means (11) for storing the initial posture of a tool attached to the end of a hand of the robot, means (10) for setting the position or speed gain of a specific joint axis smaller than the position or speed gains of the other joint axes, and means (12) for calculating the correction of a position or speed command to keep the tool posture with respect to the robot base on the basis of the angle of the joint and the initial posture of the tool.
Inventors:
NAGATA HIDEO (JP)
INOUE YASUYUKI (JP)
YASUDA KEN ICHI (JP)
KUREBAYASHI TOSHIYUKI (JP)
INOUE YASUYUKI (JP)
YASUDA KEN ICHI (JP)
KUREBAYASHI TOSHIYUKI (JP)
Application Number:
PCT/JP2000/008463
Publication Date:
May 31, 2001
Filing Date:
November 29, 2000
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
NAGATA HIDEO (JP)
INOUE YASUYUKI (JP)
YASUDA KEN ICHI (JP)
KUREBAYASHI TOSHIYUKI (JP)
NAGATA HIDEO (JP)
INOUE YASUYUKI (JP)
YASUDA KEN ICHI (JP)
KUREBAYASHI TOSHIYUKI (JP)
International Classes:
B25J9/16; B25J9/18; B25J13/00; G05B19/416; G05B19/18; G05D3/12; (IPC1-7): B25J9/10; B25J9/16; B25J13/08
Foreign References:
| JPH09174470A | 1997-07-08 | |||
| US5742138A | 1998-04-21 | |||
| JPH03131485A | 1991-06-05 | |||
| JPH11149304A | 1999-06-02 |
Other References:
See also references of EP 1234641A4
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