Robot control method and robot control device
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsHiroyuki Nakata, Hiroyoshi Ueda, Ryosuke Yamamoto, Atsumi Hashimoto, Yasuyoshi Honuchi, Masayoshi Iwatani
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Abstract
Stop and start detection block (63) determines whether or not a joint portion is in a stopped state before a rotation direction of the joint portion is inverted based on stop flag signal (Stop_Flg). When it is determined that the joint portion is in the stopped state, filter processing block (65) changes a frequency component of a correction amount for correcting backlash to a low frequency lower than a predetermined threshold value.
Claims5
A robot control device for controlling an operation of a robot arm having a plurality of joint portions, the device comprising:
- a determination unit that receives a stop flag signal and determines whether or not a joint portion to be corrected among the plurality of joint portions is in a stopped state before a rotation direction of the joint portion to be corrected is inverted based on the stop flag signal;
- and
- a frequency changing unit that changes a frequency component of a correction amount for correcting backlash at the joint portion to be corrected to a low frequency lower than a predetermined threshold value when it is determined that the joint portion to be corrected is in the stopped state.
A robot control method, of a robot control device that comprises a processor, for controlling an operation of a robot arm having a plurality of joint portions, the method comprising;
- receiving, by the processor, a stop flag signal;
- determining, by the processor, based on the stop flag signal, that a joint portion to be corrected among the plurality of joint portions is in a stopped state before a rotation direction of the joint portion be corrected is inverted;
- changing, by the processor, a frequency component of a correction amount for correcting backlash at the joint portion to be corrected to a low frequency lower than a predetermined threshold value based on the determination.
Dependencies are inferred from the claim text.