Robot, method of controlling robot, and robot control device
AssigneeCanon Kabushiki Kaisha
InventorMasaru Ogata
Life of this patent
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Abstract
A method of controlling a robot having a plurality of joints includes measuring load torque applied to a driving-force transmission system of each of the plurality of joints while moving a hand of the robot along a predetermined path, comparing a measurement value of the load torque and an allowable range of each of the joints, and controlling a rate of change in acceleration of the driving-force transmission system of each of the joints, depending on a comparison result, in a next operation in which the hand of the robot is moved along the predetermined path.
Claims26
A method of controlling a robot device having at least one joint, the robot device being configured to repeatedly move a predetermined portion of the robot device along a predetermined path, the method comprising:
- measuring torque applied to a driving-force transmission system of the at least one joint while moving the predetermined portion of the robot device along the predetermined path;
- and
- updating a rate of change in acceleration of the driving-force transmission system in a case where the torque exceeds an allowable range for the torque,
- wherein the rate of change in acceleration is not updated when the torque is within the allowable range, and the torque continues to be measured as the predetermined portion of the robot device is moved along the predetermined path.
A robot device comprising:
- at least one joint;
- and
- a control unit,
- wherein the control unit is configured to:
- repeatedly move a predetermined portion of the robot device along a predetermined path,
- measure torque applied to a driving-force transmission system of the joint while moving the predetermined portion of the robot device along the predetermined path,
- in a case where the torque exceeds an allowable range, update a rate of change in acceleration of the driving-force transmission system, and
- in a case where the torque is within the allowable range, not update the rate of change in acceleration as the predetermined portion of the robot device is moved along the predetermined path.
A robot control device comprising:
- a processor;
- and
- a memory,
- wherein the processor is configured to:
- repeatedly move a predetermined portion of a robot device along a predetermined path,
- measure torque applied to a driving-force transmission system of the joint while moving the predetermined portion of the robot device along the predetermined path,
- in a case where the torque exceeds an allowable range, update a rate of change in acceleration of the driving-force transmission system, and
- in a case where the torque is within the allowable range, not update the rate of change in acceleration, and the torque continues to be measured as the predetermined portion of the robot device is moved along the predetermined path.
Dependencies are inferred from the claim text.