Examination method for examining robot apparatus, control apparatus, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorYutaka Tsuchiya
Life of this patent
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Abstract
A method for examining a robot apparatus which includes a driving source configured to drive a joint, the position and orientation of which are controlled based on trajectory data determined in advance for a normal motion. The examination method includes generating examination motion data for driving a joint as an examination target under a driving speed that causes the examination target joint to resonate and causing the examination target joint to pass through a path based on the trajectory data. A resonance amplitude of the joint is acquired based on the examination motion data.
Claims22
A control method for controlling a robot including at least two joints and configured to be controlled based on a predetermined path for executing a normal motion, the control method comprising:
- acquiring an amplitude of a vibration at a natural frequency from a predetermined joint of the at least two joints while operating the robot in a way that the robot maintains the predetermined path and moves at a driving speed that causes the predetermined joint to vibrate at the natural frequency;
- and
- acquiring a state of the predetermined joint based on the amplitude,
- wherein the predetermined joint includes:
- a rotational driving source;
- a transmission configured to be driven by the rotational driving source;
- an output side angle sensor configured to measure a rotational angle of a rotating shaft on an output side of the transmission;
- and
- an input side angle sensor configured to measure a rotational angle of the rotating shaft of an input side of the transmission,
- wherein the amplitude is acquired based on a difference between angle information output from the output side angle sensor and angle information output from the input side angle sensor,
- wherein a fast Fourier transform (FFT) process is performed in a predetermined section divided in the angle information output from the output side angle sensor,
- wherein the robot is operated so that the robot maintains the predetermined path and the driving speed becomes the driving speed at which the predetermined joint performs the vibration at the natural frequency by changing a command value of the predetermined joint in an operation to be performed during acquisition of the state in a time direction so that a driving amount of the predetermined joint in the predetermined path matches a driving amount of the predetermined joint in the operation when the state is acquired, and
- wherein the command value of the predetermined joint is stretched in the time direction.
A control apparatus for controlling a robot which includes at least two joints and configured to be controlled based on a predetermined path for executing a normal motion, the control apparatus comprising:
- a processing unit that performs operations including:
- acquiring an amplitude of a vibration at a natural frequency from a predetermined joint of the at least two joints while operating the robot in a way that the robot maintains the predetermined path and moves at a driving speed that causes the predetermined joint to vibrate at the natural frequency;
- acquiring a state of the predetermined joint based on the amplitude,
- wherein the predetermined joint includes:
- a rotational driving source;
- a transmission configured to be driven by the rotational driving source;
- an output side angle sensor configured to measure a rotational angle of a rotating shaft on an output side of the transmission;
- and
- an input side angle sensor configured to measure a rotational angle of the rotating shaft of an input side of the transmission;
- and
- acquiring the amplitude based on a difference between angle information output from the output side angle sensor and angle information output from the input side angle sensor,
- wherein a fast Fourier transform (FFT) process is performed in a predetermined section divided in the angle information output from the output side angle sensor,
- wherein the robot is operated so that the robot maintains the predetermined path and the driving speed becomes the driving speed at which the predetermined joint performs the vibration at the natural frequency by changing a command value of the predetermined joint in an operation to be performed during acquisition of the state in a time direction so that a driving amount of the predetermined joint in the predetermined path matches a driving amount of the predetermined joint in the operation when the state is acquired, and
- wherein the command value of the predetermined joint is stretched in the time direction.
Dependencies are inferred from the claim text.