ROBOT DEVICE AND CONTROL METHOD OF ROBOT DEVICE

• Main Authors: SESHIMO ISAMU, MOTOYOSHI MASAKI
• Format: Patent
• Language: English
• Published: 20.06.2013
• 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

PROBLEM TO BE SOLVED: To provide a robot and a control method capable of restraining the vibration of a robot arm, particularly, vibration when stopping in a target position in an arm tip having a work mechanism by a simple control system.SOLUTION: The robot device includes an arm connecting device including an actuator and an angle sensor, an arm body, a base body rotatably connected with the arm body, and an inertia sensor in a work arm attached with a workpiece holding means, and includes a first arithmetic operation part for arithmetically operating the angular velocity of the arms, a second arithmetic operation part for arithmetically operating the angular velocity in an installation position of the inertia sensor of the work arm, a third arithmetic operation part for arithmetically operating torsional angular velocity between the arms, a fourth arithmetic operation part for arithmetically operating an overshoot of the work arm, and a control part having a comparing means of the overshoot of the work arm and an overshoot specified value, and increasing and decreasing a speed loop integral gain by an overshoot comparing result of the comparing means.