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US 10,836,037 B2Granted
Control device and robot system
AssigneeSeiko Epson Corporation
InventorsToshinori Hiraide, Norio Yokoshima
Life of this patent
Estimating the term…
Abstract
A control device includes: a processor that is configured to execute computer-executable instructions so as to control a robot, and the processor is configured to receive an instruction to execute a specific operation which is an operation determined in advance; and an amplifier that causes a motor of a robot to execute the specific operation when the processor receives the instruction to execute the specific operation; wherein the processor is configured to receive a measurement result of vibration measured by a measurement device installed in the robot from the measurement device in the execution of the specific operation.
Claims13
A control device comprising:
- a processor that is configured to execute computer-executable instructions so as to control a robot, and the processor is configured to receive an instruction to execute a specific operation which is an operation determined in advance, the specific operation including at least two movements that are separate and distinct;
- and
- an amplifier that causes a motor of a robot to execute the specific operation when the processor receives the instruction to execute the specific operation;
- wherein
- the processor is configured to receive a measurement result of vibration measured by a measurement device installed in the robot from the measurement device in the execution of the specific operation,
- the processor is configured to determine at least one frequency component to be filtered from a torque control signal for a first of the at least two movements and for a second of the at least two movements for the specific operation from the measurement results of vibration,
- the processor is configured to determine an intermediate torque control signal based on the at least one frequency component to be filtered from the torque control signal for the first of the at least two movements and the at least one frequency components to be filtered from the torque control signal for the second of the at least two movements, and
- the processor is configured to execute the torque control signal for the first of the at least two movements with the at least one frequency component filtered out, the intermediate torque control signal, and the torque control signal for the second of the at least two movements with the at least one frequency component filtered out in that order.
5 more elements
A robot system comprising:
- a robot;
- and
- the control device that comprises a processor that is configured to execute computer-executable instructions so as to control the robot and the processor is configured to receive an instruction to execute a specific operation which is an operation determined in advance, the specific operation including at least two movements that are separate and distinct, and comprises an amplifier that causes a motor of the robot to execute the specific operation when the processor receives the instruction to execute the specific operation;
- wherein
- the processor is configured to receive a measurement result of vibration measured by a measurement device installed in the robot from the measurement device in the execution of the specific operation,
- the processor is configured to determine at least one frequency component to be filtered from a torque control signal for a first of the at least two movements and for a second of the at least two movements for the specific operation from the measurement results of vibration,
- the processor is configured to determine an intermediate torque control signal based on the at least one frequency component to be filtered from the torque control signal for the first of the at least two movements and the at least one frequency components to be filtered from the torque control signal for the second of the at least two movements, and
- the processor is configured to execute the torque control signal for the first of the at least two movements with the at least one frequency component filtered out, the intermediate torque control signal, and the torque control signal for the second of the at least two movements with the at least one frequency component filtered out in that order.
5 more elements
Dependencies are inferred from the claim text.