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US 12,589,486 B2Granted
Robot and robot-controlling method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsTakeshi Shibata, Ryota Ono, Junichi Matsuoka
Life of this patent
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Abstract
A robot includes a robot arm; a drive mechanism for driving the robot arm, the drive mechanism including a gear(s) and a shaft; a temperature sensor for detecting a temperature in the robot arm; and a controller for compensating for influences of thermal expansions of the robot arm, and at least one of the gear(s) and the shaft based on a detection result of the temperature sensor.
Claims12
A robot comprising:
- a robot arm;
- a drive mechanism for driving the robot arm, the drive mechanism including one or more gears and a shaft;
- a temperature sensor for detecting a temperature in the robot arm;
- and
- a controller for compensating for influences of thermal expansions of the robot arm and the shaft based on a detection result of the temperature sensor, wherein
- the controller compensates for an influence of the thermal expansion on reduction in torsional rigidity of the shaft based on the detection result of the temperature sensor and an operating torque of the drive mechanism.
3 more elements
A robot comprising:
- a robot arm;
- a drive mechanism for driving the robot arm, the drive mechanism including a power transmitter and a shaft;
- a temperature sensor for detecting a temperature in the robot arm;
- and
- a controller for compensating for influences of thermal expansions of the robot arm and the shaft based on a detection result of the temperature sensor, wherein
- the controller compensates for an influence of the thermal expansion on reduction in torsional rigidity of the shaft based on the detection result of the temperature sensor and an operating torque of the drive mechanism.
3 more elements
A method for controlling a robot comprising:
- driving a robot arm by using a drive mechanism including one or more gears and a shaft;
- detecting a temperature in the robot arm by using a temperature sensor;
- compensating for influences of thermal expansions of the robot arm and the shaft based on a detection result of the temperature sensor;
- and
- compensating for an influence of the thermal expansion on reduction in torsional rigidity of the shaft based on the detection result of the temperature sensor and an operating torque of the drive mechanism.
2 more elements
Dependencies are inferred from the claim text.