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US 12,138,796 B2Granted
Torque control of a motor
OwnerKeita Shimamoto, Koji Uemurainventors
Life of this patent
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Abstract
A robot system includes: a robot comprising a joint driven by a motor; and a circuitry configured to: execute position control of the motor based on position commands; store torque commands generated based on the position commands during execution of the position control of the motor; and execute torque control of the motor based on the stored torque commands.
Claims20
A robot system comprising:
- a robot comprising a joint driven by a motor;
- and
- circuitry configured to:
- execute position control of the motor during a first mode of operation based on sequential position commands that specify an angular position of the motor for each of the position commands, so that the angular position of the motor sequentially follows the position commands;
- store torque commands generated during execution of the first mode of operation, wherein the stored torque commands identify a torque generated by the motor corresponding to the angular position for each of the position commands;
- and
- execute, after the first mode of operation, torque control of the motor during a second mode of operation based on the stored torque commands, so that the torque generated by the motor sequentially follows the stored torque commands.
4 more elements
A method for controlling a robot having a joint driven by a motor, the method comprising:
- executing position control of the motor during a first mode of operation based on sequential position commands that specify an angular position of the motor for each of the position commands, so that the angular position of the motor sequentially follows the position commands;
- storing torque commands generated during execution of the first mode of operation, wherein the stored torque commands identify a torque generated by the motor corresponding to the angular position for each of the position commands;
- and
- executing, after the first mode of operation, torque control of the motor during a second mode of operation based on the stored torque commands, so that the torque generated by the motor sequentially follows the stored torque commands.
1 more element
A servo system comprising:
- a motor;
- and
- circuitry configured to:
- execute position control of the motor during a first mode of operation based on sequential position commands that specify an angular position of the motor for each of the position commands, so that the angular position of the motor sequentially follows the position commands;
- store torque commands generated during execution of the first mode of operation, wherein the stored torque commands identify a torque generated by the motor corresponding to the angular position for each of the position commands;
- and
- execute, after the first mode of operation, torque control of the motor during a second mode of operation based on the stored torque commands, so that the torque generated by the motor sequentially follows the stored torque commands.
4 more elements
Dependencies are inferred from the claim text.