ROBOT DEVICE AND METHOD FOR CONTROLLING THE ROBOT DEVICE

• Main Authors: SESHIMO ISAMU, MOTOYOSHI MASAKI
• Format: Patent
• Language: English; Japanese
• Published: 25.08.2016
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

PROBLEM TO BE SOLVED: To provide a robot structured so that vibration of a robot arm, especially vibration at the time of stop at a target position at an arm tip end part provided with a work mechanism can be suppressed in a simple control system: and to provide a method for controlling the robot.SOLUTION: A robot device includes: an actuator; an arm connection device; arm bodies; a base body to which the arm body is connected; and a gyro sensor set to a work arm to which means for holding a material to be worked is mounted. The robot includes: a first calculation unit for calculating an angular speed of the arm; a second calculation unit for calculating the angular speed of the work arm; a third calculation unit for calculating a twist angle speed between the arms; weight acquisition means of acquiring the weight of the material to be worked; a fourth calculation unit for calculating the tact time of the work arm from the twist angular speed; comparison means of comparing the tact time with a tact-time specified value; correction gain generating means of generating correction gain when the tact time exceeds the specified value; and a control unit for performing control depending on the correction gain and the twist angular speed.SELECTED DRAWING: Figure 2 【課題】簡単な制御系で、ロボットアームの振動、特に作業機構を備えるアーム先端部においての目標位置停止時の振動が抑制できるロボットと制御方法を提供する。【解決手段】アクチュエーターと、アーム連結装置と、アーム体と、前記アーム体が連結された基体と、被作業物保持手段が取り付けられた作業アームにはジャイロセンサーと、を備え、前記アームの角速度を演算する第１演算部と、前記作業アームの角速度を演算する第２演算部と、前記アーム間のねじれ角速度を演算する第３演算部と、被作業物の重量を取得する重量取得手段と、前記ねじれ角速度から、前記作業アームのタクトタイムを演算する第４演算部と、前記タクトタイムとタクトタイム規定値とを比較する比較手段と、前記タクトタイムが規定値を超えた場合に補正ゲインを生成する補正ゲイン生成手段と、を含み、補正ゲインおよび前記ねじれ角速度により制御する制御部と、を備えるロボット装置。【選択図】図２