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US 10,882,182 B2Granted
Robot apparatus, control method of robot apparatus, and recording medium
AssigneeCanon Kabushiki Kaisha
InventorTakayuki Ogawara
Life of this patent
Estimating the term…
Abstract
A robot arm includes a plurality of links and rotary joints for connecting the links with each other. A cable (wire rod) for communicating a drive signal to a drive actuator of each rotary joint is provided along each link. A reaction force table storing a reaction force value generated by the wire rod when the joint is driven in a divided storage area divided for each dynamic drive control condition is provided in a control system. In a case where each rotary joint is driven, the control device controls each rotary joint on the basis of a reaction force value obtained by referring to the reaction force table in accordance with the drive control condition.
Claims11
A robot apparatus comprising:
- A rotary joint configured for rotation in at least a first direction and a second direction opposite the first direction;
- a driving source configured to drive the rotary joint;
- a sensor configured to detect a torque applied to the rotary joint;
- a cable member traversing the rotary joint, and configured to generate a first force to be applied to the rotary joint due to deformation of the cable member when the rotary joint is rotated in the first direction and a second force to be applied to the rotary joint due to deformation of the cable member when the rotary joint is rotated in the second direction;
- a memory configured to store a first control value based on the first force, and a second control value based on the second force, with respect to a third position of the rotary joint through which the rotary joint passes when the rotary joint is rotated from a first position to a second position in the first direction and when the rotary joint is rotated from the second position to the first position in the second direction;
- and
- a control device configured to control a rotary drive torque of the driving source, using a detection value of the sensor and the first control value or the second control value stored in the memory,
- wherein the control device is configured to control the rotary drive torque of the driving source, using the detection value of the sensor and the first control value, when the rotary joint is located at the third position while the rotary joint is rotated in the first direction, and to control the rotary drive torque of the driving source, using the detection value of the sensor and the second control value, when the rotary joint is located at the third position while the rotary joint is rotated in the second direction.
5 more elements
A computer readable recording medium storing a robot control program for causing a robot apparatus to execute robot control, the robot apparatus comprising:
- a rotary joint configured for rotation movement in at least a first direction and a second direction opposite the first direction;
- a driving source configured to drive the rotary joint;
- a sensor configured to detect a torque applied to the rotary joint;
- a cable member traversing the rotary joint, and configured to generate a first force to be applied to the rotary joint due to deformation of the cable member when the rotary joint is rotated in the first direction and a second force to be applied to the rotary joint due to deformation of the cable member when the rotary joint is rotated in the second direction;
- a memory configured to store a first control value based on the first force, and a second control value based on the second force, with respect to a third position of the rotary joint through which the rotary joint passes when the rotary joint is rotated from a first position to a second position in the first direction and when the rotary joint is rotated from the second position to the first position in the second direction;
- and
- a control device configured to control a rotary drive torque of the driving source, using a detection value of the sensor and the first control value or the second control value stored in the memory,
- wherein the control device is configured to control the rotary drive torque of the driving source, using the detection value of the sensor and the first control value, when the rotary joint is located at the third position while the rotary joint is rotated in the first direction, and to control the rotary drive torque of the driving source, using the detection value of the sensor and the second control value, when the rotary joint is located at the third position while the rotary joint is rotated in the second direction.
5 more elements
A control method of a robot apparatus including:
- a rotary joint configured for rotation movement in at least a first direction and a second direction opposite the first direction;
- a driving source configured to drive the rotary joint;
- a sensor configured to detect a torque applied to the rotary joint;
- a cable member traversing the rotary joint, and configured to generate a first force to be applied to the rotary joint due to deformation of the cable member when the rotary joint is rotated in the first direction and a second force to be applied to the rotary joint due to deformation of the cable member when the rotary joint is rotated in the second direction;
- a memory configured to store a first control value based on the first force, and a second control value based on the second force, with respect to a third position of the rotary joint through which the rotary joint passes when the rotary joint is rotated from a first position to a second position in the first direction and when the rotary joint is rotated from the second position to the first position in the second direction;
- a control device configured to control a rotary drive torque of the driving source, using a detection value of the sensor and the first control value or the second control value stored in the memory,
- wherein the control device is configured to control the rotary drive torque of the driving source, using the detection value of the sensor and the first control value, when the rotary joint is located at the third position while the rotary joint is rotated in the first direction, and to control the rotary drive torque of the driving source, using the detection value of the sensor and the second control value, when the rotary joint is located at the third position while the rotary joint is rotated in the second direction.
4 more elements
A manufacturing method of an article, comprising:
- assembling a component using a robot apparatus, the robot apparatus including:
- a joint configured for rotation in at least a first direction and a second direction opposite the first direction;
- a driving source configured to drive the rotary joint;
- a sensor configured to detect a torque applied to the rotary joint;
- a cable member traversing the rotary joint, and configured to generate a first force to be applied to the rotary joint due to deformation of the cable member when the rotary joint is rotated in the first direction and a second force to be applied to the rotary joint due to deformation of the cable member when the rotary joint is rotated in the second direction;
- a memory configured to store a first control value based on the first force, and a second control value based on the second force, with respect to a third position of the rotary joint through which the rotary joint passes when the rotary joint is rotated from a first position to a second position in the first direction and when the rotary joint is rotated from the second position to the first position in the second direction;
- a control device configured to control a rotary drive torque of the driving source, using a detection value of the sensor and the first control value or the second control value stored in the memory,
- wherein the control device is configured to control the rotary drive torque of the driving source, using the detection value of the sensor and the first control value, when the rotary joint is located at the third position while the rotary joint is rotated in the first direction, and to control the rotary drive torque of the driving source, using the detection value of the sensor and the second control value, when the rotary joint is located at the third position while the rotary joint is rotated in the second direction.
5 more elements
Dependencies are inferred from the claim text.