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US 12,290,942 B2Granted
Method for controlling robot, robot system, and storage medium
AssigneeSeiko Epson Corporation
InventorShunsuke Toshimitsu
Life of this patent
Estimating the term…
Abstract
Provided is a method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm. The method includes a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector; a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step; and a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.
Claims8
A method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm, the method comprising:
- a first step of acquiring height information on a height of a tip end of the robot arm at a lowering operation start position from which the tip end of the robot arm is lowered;
- a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the height information acquired in the first step;
- and
- a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal,
- wherein an end effector is attached to the robot arm,
- the tip end of the robot arm is a control point on the end effector,
- the robot arm is configured to execute a lifting operation in which the tip end of the robot arm is lifted from an operation start position and a lowering operation in which the tip end of the robot arm is lowered from the lowering operation start position after the lifting operation,
- the determination of the frequency component in the second step is performed based on a height of the tip end of the robot arm at a position which is obtained by selecting one of the operation start position and the lowering operation start position,
- in the second step, when at least one of the following conditions 1, 2, and 3 is satisfied, the frequency component is determined based on the height of the tip end of the robot arm at the lowering operation start position, and when none of the following conditions 1, 2, and 3 is satisfied, the frequency component is determined based on the height of the tip end of the robot arm at the operation start position,
- condition 1:
- a distance between the lowering operation start position and a lowering operation end position at which the lowering operation is ended is equal to or greater than a predetermined distance,
- condition 2:
- a height of the lowering operation start position is equal to or higher than a predetermined height, and
- condition 3:
- the height of the lowering operation end position is equal to or higher than the predetermined height.
12 more elements
A robot system, comprising:
- a robot arm;
- an end effector attached to the robot arm;
- a drive unit including a motor for driving the robot arm;
- and
- a processor configured to execute a program stored in a memory so as to:
- control an actuation of the robot arm;
- acquire height information on a height of a tip end of the robot arm at a lowering operation start position from which the tip end of the robot arm is lowered;
- determine a frequency component to be removed from a drive signal based on the height information;
- and
- remove the determined frequency component from the drive signal to generate a correction drive signal,
- wherein the tip end of the robot arm is a control point on the end effector,
- the robot arm is configured to execute a lifting operation in which the tip end of the robot arm is lifted from an operation start position and a lowering operation in which the tip end of the robot arm is lowered from the lowering operation start position after the lifting operation,
- the determination of the frequency component is performed based on a height of the tip end of the robot arm at a position which is obtained by selecting one of the operation start position and the lowering operation start position,
- when at least one of the following conditions 1, 2, and 3 is satisfied, the frequency component is determined based on the height of the tip end of the robot arm at the lowering operation start position, and when none of the following conditions 1, 2, and 3 is satisfied, the frequency component is determined based on the height of the tip end of the robot arm at the operation start position,
- condition 1:
- a distance between the lowering operation start position and a lowering operation end position at which the lowering operation is ended is equal to or greater than a predetermined distance,
- condition 2:
- a height of the lowering operation start position is equal to or higher than a predetermined height, and
- condition 3:
- the height of the lowering operation end position is equal to or higher than the predetermined height.
17 more elements
A non-transitory computer-readable storage medium storing a program for controlling a robot including a robot arm, an end effector attached to the robot arm, and a drive unit including a motor for driving the robot arm, the program causing a processor to perform the steps of:
- a first step of acquiring height information on a height of a tip end of the robot arm at a lowering operation start position from which the tip end of the robot arm is lowered;
- a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the height information acquired in the first step;
- and
- a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal,
- wherein the tip end of the robot arm is a control point on the end effector,
- the robot arm is configured to execute a lifting operation in which the tip end of the robot arm is lifted from an operation start position and a lowering operation in which the tip end of the robot arm is lowered from the lowering operation start position after the lifting operation,
- the determination of the frequency component in the second step is performed based on a height of the tip end of the robot arm at a position which is obtained by selecting one of the operation start position and the lowering operation start position,
- in the second step, when at least one of the following conditions 1, 2, and 3 is satisfied, the frequency component is determined based on the height of the tip end of the robot arm at the lowering operation start position, and when none of the following conditions 1, 2, and 3 is satisfied, the frequency component is determined based on the height of the tip end of the robot arm at the operation start position,
- condition 1:
- a distance between the lowering operation start position and a lowering operation end position at which the lowering operation is ended is equal to or greater than a predetermined distance,
- condition 2:
- a height of the lowering operation start position is equal to or higher than a predetermined height, and
- condition 3:
- the height of the lowering operation end position is equal to or higher than the predetermined height.
11 more elements
Dependencies are inferred from the claim text.