ROBOT SYSTEM FOR LEARNING BY USE OF MOTOR ENCODER AND SENSOR

To perform learning control for oscillation of a control object part.SOLUTION: A robot system 10 comprises: a robot mechanism part 14 comprising a sensor 12 for detecting a position of a control object part, and a motor encoder 13; and a robot control device 15 which controls operation of the robot...

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Bibliographic Details
Main Authors SUZUKI HAJIME, WASHIZU SHINICHI
Format Patent
LanguageEnglish
Japanese
Published 24.10.2019
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:To perform learning control for oscillation of a control object part.SOLUTION: A robot system 10 comprises: a robot mechanism part 14 comprising a sensor 12 for detecting a position of a control object part, and a motor encoder 13; and a robot control device 15 which controls operation of the robot mechanism part 14 according to a work program 20. A learning control part 22 has a positional deviation estimation part 33 which is so configured as to estimate a low frequency component of positional deviation from information of the motor encoder 13, and to estimate a high frequency component of positional deviation from information of the sensor 12.SELECTED DRAWING: Figure 3 【課題】制御対象部位の振動を精度良く学習制御する。【解決手段】制御対象部位の位置を検出するためのセンサ１２及びモータエンコーダ１３を備えたロボット機構部１４と、作業プログラム２０に従ってロボット機構部１４の動作を制御するロボット制御装置１５と、を備える、ロボットシステム１０であって、学習制御部２２は、モータエンコーダ１３の情報から位置偏差の低周波成分を推定すると共に、センサ１２の情報から位置偏差の高周波成分を推定するように構成された位置偏差推定部３３を有する。【選択図】図３
Bibliography:Application Number: JP20180074022