Robot arm control method and control device

专利名称：Robot arm control method and control

device

发明人：Hiroyuki Nakata,Naoto Masunaga,Atsumi

Hashimoto,Yasushi Mukai

申请号：US106712申请日：20040702

公开号：US20060071625A1公开日：20060406

专利附图：

摘要：When either a command value or an actually measured value is appropriatelyselected as an angular velocity used for the frictional torque calculation, the frictional

compensation can be made valid at all times in both the case in which a robot is activelyoperated according to an angular velocity command and the case in which the robot ispassively operated being pushed by an external force. In the case where a motor rotatingdirection and a collision direction are reverse to each other after a collision has beendetected, the control mode is switched from the positional control to the electric currentcontrol and a torque, the direction of which is reverse to the direction of the motorrotation is generated by the motor, so that the motor rotating speed can be reducedand the collision energy can be alleviated. After that, when the motor rotating speed isreduced to a value not more than the setting value, the control mode is switched to thecompliance control and the distortion caused in a reduction gear is dissolved. On theother hand, in the case where the motor rotating direction and the collision direction arethe same, the control mode is directly switched from the positional control to thecompliance control without passing through the electric current control. When the robotis operated whole following a collision force, the collision force can be alleviated.

申请人：Hiroyuki Nakata,Naoto Masunaga,Atsumi Hashimoto,Yasushi Mukai

地址：Osaka-shi JP,Osaka-shi JP,Osaka-shi JP,Osaka-shi JP

国籍：JP,JP,JP,JP

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