ROBOT CONTROL METHOD

• Main Authors: HASHIMOTO ATSUSANE, IWAYA MASAYOSHI, NAKADA HIROYUKI, UEDA HIROYOSHI, YAMAMOTO RYOSUKE
• Format: Patent
• Language: English; Japanese
• Published: 31.10.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To suppress positional deviation of a robot arm tip due to deflection of a joint part of the robot arm.SOLUTION: A first joint part J1 and a fourth joint part J4 of a robot arm 10 are so configured that inclination of a rotation axis does not affect positional deviation of a robot arm tip. A second joint part J2 and a third joint part J3 are so configured that the rotation axis is rotated in a gravity direction. A deflection compensation amount of the second joint part J2 is calculated on the basis of deflection angles of the first joint part J1, the second joint part J2 and the fourth joint part J4. Further, a deflection compensation amount of the third joint part J3 is calculated on the basis of deflection angles of the first joint part J1, the third joint part J3 and the fourth joint part J4. The second joint part J2 and the third joint part J3 are rotated on the basis of respective calculated deflection compensation amounts.SELECTED DRAWING: Figure 3 【課題】ロボットアームの関節部のたわみに起因するロボットアーム先端の位置ずれを抑える。【解決手段】ロボットアーム１０の第１関節部Ｊ１及び第４関節部Ｊ４は、回転軸の傾きが前記ロボットアーム先端の位置ずれに影響を及ぼすように構成されている。第２関節部Ｊ２及び第３関節部Ｊ３は、回転軸が重力方向に回動するように構成されている。そして、第２関節部Ｊ２のたわみ補償量を、第１関節部Ｊ１、第２関節部Ｊ２、及び第４関節部Ｊ４のたわみ角度に基づいて算出する。また、第３関節部Ｊ３のたわみ補償量を、第１関節部Ｊ１、第３関節部Ｊ３、及び第４関節部Ｊ４のたわみ角度に基づいて算出する。そして、第２関節部Ｊ２及び第３関節部Ｊ３を、それぞれ算出されたたわみ補償量に基づいて回動させる。【選択図】図３