CONTROL DEVICE AND METHOD FOR CONTROLLING ROBOT ARM

PROBLEM TO BE SOLVED: To provide a control device that achieves smooth movement of a multi-joint robot arm.SOLUTION: The control device 2 includes an acceleration calculating device for calculating each angular acceleration of first, second and third driving motors, by using at least one of load ine...

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Bibliographic Details
Main Authors YAMAMORI TAKAFUMI, ISOMURA TADASHI
Format Patent
LanguageEnglish
Published 12.07.2012
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HAND TOOLS
MANIPULATORS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
TRANSPORTING
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Summary:PROBLEM TO BE SOLVED: To provide a control device that achieves smooth movement of a multi-joint robot arm.SOLUTION: The control device 2 includes an acceleration calculating device for calculating each angular acceleration of first, second and third driving motors, by using at least one of load inertia, gravitational torque, motor torque and motor inertia acting on each of the first, second and third driving motors, and furthermore torque of a spring device, and also driving system inertia that is inertia of a driving system member train for transmitting each power of the first, second and third driving motors.
Bibliography:Application Number: JP20100286264