US 12,472,624 B2 · Spring constant correction device, method therefor, and recording medium

A spring constant correction device applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller,

the spring constant correction device comprising:
a measurement unit that measures a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparison unit that compares measurement values of the position and attitude, of the distal end of the articulated robot, measured by the measurement unit and target values of the position and attitude of the distal end of the articulated robot;
and
a correction unit that corrects the spring constant, based on a result obtained by comparison by the comparison unit,
wherein the correction unit corrects, at a predetermined position, the spring constant based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured by the measurement unit;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the torque τ1 of the distal end of the articulated robot in the end point attitude, the angle θd of the distal end of the articulated robot in a target attitude, and the torque τd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
τ
l
(
θ
l
-
θ
d
)
+
τ
d
K
old
=
τ
l
d
⁢
θ
d
+
τ
d
K
old
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

39 more elements

A spring constant correction device applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller, the spring constant correction device comprising:

a measurement unit that measures a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparison unit that compares measurement values of the position and attitude, of the distal end of the articulated robot, measured by the measurement unit and target values of the position and attitude of the distal end of the articulated robot;
and
a correction unit that corrects the spring constant, based on a result obtained by comparison by the comparison unit,
wherein the correction unit corrects, at a predetermined position, the spring constant based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured by the measurement unit;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the angle θ1 of the end point attitude based on the attitude, of the distal end of the articulated robot, measured by the measurement unit, the angle θd of the distal end of the articulated robot in the target attitude, and the torque τd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
1
d
⁢
θ
d
τ
d
+
1
K
old
⁢
θ
l
θ
d
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

28 more elements

A spring constant correction device applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller, the spring constant correction device comprising:

a measurement unit that measures a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparison unit that compares measurement values of the position and attitude, of the distal end of the articulated robot, measured by the measurement unit and target values of the position and attitude of the distal end of the articulated robot;
and
a correction unit that corrects the spring constant, based on a result obtained by comparison by the comparison unit,
wherein the correction unit corrects, at a predetermined position, the spring constant based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured by the measurement unit;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the angle θ1 of the end point attitude based on the attitude, of the distal end of the articulated robot, measured by the measurement unit, the torque τ1 of the distal end of the articulated robot in the end point attitude, and the angle θd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
1
d
⁢
θ
d
τ
d
+
1
K
old
⁢
θ
d
θ
l
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

28 more elements

A spring constant correction method applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller,

the spring constant correction method comprising:
a measuring step of measuring a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparing step of comparing measurement values of the position and attitude, of the distal end of the articulated robot, measured in the measuring step and target values of the position and attitude of the distal end of the articulated robot;
and
a correcting step of correcting the spring constant, based on a result obtained by comparison in the comparing step,
wherein in the correcting step, the spring constant is corrected, at a predetermined position, based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the torque τy of the distal end of the articulated robot in the end point attitude, the angle θd of the distal end of the articulated robot in a target attitude, and the torque τd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
τ
l
(
θ
l
-
θ
d
)
+
τ
d
K
old
=
τ
l
d
⁢
θ
d
+
τ
d
K
old
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

39 more elements

A non-transitory computer-readable medium storing computer readable instructions thereon that are applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller,

the computer readable instructions, when executed by a computer, cause the computer to perform a method comprising:
a measuring step of measuring a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparing step of comparing measurement values of the position and attitude, of the distal end of the articulated robot, measured in the measuring step and target values of the position and attitude of the distal end of the articulated robot;
and
a correcting step of correcting the spring constant, based on a result obtained by comparison in the comparing step,
wherein in the correcting step, the spring constant is corrected, at a predetermined position, based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the torque τ1 of the distal end of the articulated robot in the end point attitude, the angle θd of the distal end of the articulated robot in a target attitude, and the torque τd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
τ
l
(
θ
l
-
θ
d
)
+
τ
d
K
old
=
τ
l
d
⁢
θ
d
+
τ
d
K
old
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

39 more elements

A spring constant correction method applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller,

the spring constant correction method comprising:
a measuring step of measuring a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparing step of comparing measurement values of the position and attitude, of the distal end of the articulated robot, measured in the measuring step and target values of the position and attitude of the distal end of the articulated robot;
and
a correcting step of correcting the spring constant, based on a result obtained by comparison in the comparing step,
wherein in the correcting step, the spring constant is corrected, at a predetermined position, based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the angle θ1 of the end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step, the angle θd of the distal end of the articulated robot in the target attitude, and the torque τd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
1
d
⁢
θ
d
τ
d
+
1
K
old
⁢
θ
l
θ
d
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

29 more elements

A non-transitory computer-readable medium storing computer readable instructions thereon that are applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller,

the computer readable instructions, when executed by a computer, cause the computer to perform a method comprising:
a measuring step of measuring a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparing step of comparing measurement values of the position and attitude, of the distal end of the articulated robot, measured in the measuring step and target values of the position and attitude of the distal end of the articulated robot;
and
a correcting step of correcting the spring constant, based on a result obtained by comparison in the comparing step,
wherein in the correcting step, the spring constant is corrected, at a predetermined position, based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the angle θ1 of the end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step, the angle θd of the distal end of the articulated robot in the target attitude, and the torque τd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
1
d
⁢
θ
d
τ
d
+
1
K
old
⁢
θ
l
θ
d
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

29 more elements

A spring constant correction method applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller,

the spring constant correction method comprising:
a measuring step of measuring a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparing step of comparing measurement values of the position and attitude, of the distal end of the articulated robot, measured in the measuring step and target values of the position and attitude of the distal end of the articulated robot;
and
a correcting step of correcting the spring constant, based on a result obtained by comparison in the comparing step,
wherein in the correcting step, the spring constant is corrected, at a predetermined position, based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the angle θ1 of the end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step, the torque τi of the distal end of the articulated robot in the end point attitude, and the angle θd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
1
d
⁢
θ
d
τ
d
+
1
K
old
⁢
θ
d
θ
l
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

29 more elements

A non-transitory computer-readable medium storing computer readable instructions thereon that are applied to an articulated robot in which a speed reducer acts as a spring element and elastically deforms, the articulated robot being operated in a state where elastic deformation is compensated based on a spring constant of the spring element by an elastic deformation compensation unit included in a robot controller,

the computer readable instructions, when executed by a computer, cause the computer to perform a method comprising:
a measuring step of measuring a position and attitude of a distal end of the articulated robot when the articulated robot is operated in a state where the elastic deformation is compensated;
a comparing step of comparing measurement values of the position and attitude, of the distal end of the articulated robot, measured in the measuring step and target values of the position and attitude of the distal end of the articulated robot;
and
a correcting step of correcting the spring constant, based on a result obtained by comparison in the comparing step,
wherein in the correcting step, the spring constant is corrected, at a predetermined position, based on at least three of:
an angle of an end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step;
a torque of the distal end of the articulated robot in the end point attitude;
an angle of the distal end of the articulated robot in a target attitude;
and a torque of the distal end of the articulated robot in the target attitude,
the predetermined position is an end point position of a weaving motion, and
the spring constant is expressed, at the predetermined position, by a functional expression using the angle θ1 of the end point attitude based on the attitude, of the distal end of the articulated robot, measured in the measuring step, the torque τi of the distal end of the articulated robot in the end point attitude, and the angle θd of the distal end of the articulated robot in the target attitude, the functional expression being:
K
new
=
1
d
⁢
θ
d
τ
d
+
1
K
old
⁢
θ
d
θ
l
where Knew denotes a corrected spring constant, Kold denotes a current spring constant, and dθd denotes an angular error.

29 more elements

Spring constant correction device, method therefor, and recording medium

Life of this patent

Spring constant correction device, method therefor, and recording medium

Life of this patent

Abstract

Claims12