Control device for robot having arm
AssigneeFanuc Corporation
InventorYuuya Iwase
Life of this patent
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Abstract
To provide a control device of a robot having an arm which causes the arm to be stopped more easily than conventionally by generating a load of appropriate magnitude to an operator during lead-through. The present invention relates to a control device of a robot having an arm, the control device including: a motor that generates torque in each axis of the robot; a torque generation control unit that controls the motor so as to generate a canceling torque which cancels friction of each axis of the robot when controlling the robot by external force tracking; and a torque changing unit that changes the canceling torque to a reference value or less.
Claims4
A control device of a robot having an arm, the control device comprising:
- a motor that generates torque in each axis of the robot;
- a torque generation control unit that controls the motor so as to generate a canceling torque which cancels friction of each axis of the robot when controlling the robot by external force tracking;
- and
- a torque changing unit that changes the canceling torque to a reference value or less.
Dependencies are inferred from the claim text.