Robot control method and device

When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric...

Full description

Saved in:
Bibliographic Details
Main Authors KARIYAZAKI HIROKAZU, OJIMA MASAO, TOMISAKI HIDENORI
Format Patent
LanguageEnglish
Published 25.09.2001
Edition7
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
Online AccessGet full text

Cover

More Information
Summary:When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref-L, Xref-U with respect to the electric motors and outputs model motor position commands thetaMm-L, thetaMm-U, model motor speed commands {dot over (theta)}Mm-L, {dot over (theta)}Mm-U, and model feed-forward commands UFF-L, UFF-U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. The model controller (1) outputs the model feed-forward commands with the corrective quantities added thereto.
Bibliography:Application Number: US19990424561