Robot controller and robot control method
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsTaku Shikina, Takashi Nishimura, Tamio Nakamura
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Abstract
A robot controller (2) configured to control a robot (1) including a plurality of joints (J1-J6) each rotatable around a rotation axis, the robot controller (2) including: an acquisition unit (21) configured to acquire a rotation angle of each of the plurality of joints (J1-J6); a determination unit (22) configured to determine whether or not the robot (1) has been in proximity to a singular configuration, based on the rotation angle of each of the plurality of joints (J1-J6); and a control unit (23) configured to control the plurality of joints (J1-J6) to be rotated not to rotate simultaneously, when the determination unit (22) determines that the robot (1) has been in proximity to the singular configuration.
Claims10
A robot controller configured to control a robot including a plurality of joints each rotatable around a rotation axis, the robot controller comprising:
- an acquisition unit configured to acquire a rotation angle of each of the plurality of joints;
- a determination unit configured to determine whether or not the robot has been in proximity to a singular configuration at a singularity of the robot, based on the rotation angle of each of the plurality of joints, the determination unit determining that the robot has been in proximity to the singular configuration when at least one of a position and an angle of the plurality of joints are at a predetermined position and a predetermined angle, respectively;
- and
- a control unit configured to control the plurality of joints to be rotated not to rotate simultaneously, when the determination unit determines that the robot has been in proximity to the singular configuration.
A robot control method of controlling a robot having a plurality of joints each rotatable around a rotation axis, the robot control method comprising:
- acquiring a rotation angle of each of the plurality of joints using an encoder or a resolver;
- determining whether or not the robot has been in proximity to a singular configuration at a singularity of the robot, based on the rotation angle of each of the plurality of joints, the determination being that the robot has been in proximity to the singular configuration when at least one of a position and an angle of the plurality of joints are at a predetermined position and a predetermined angle, respectively;
- and
- controlling the plurality of joints to be rotated not to rotate simultaneously, when the determining determines that the robot has been in proximity to the singular configuration.
Dependencies are inferred from the claim text.