Control method for robot and robot control device
AssigneeNidec Instruments Corporation
InventorsHirokatsu Okumura, Takahiro Shiraki
Life of this patent
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Abstract
For each axis of a robot, a resonance avoidance speed range is determined in advance based on a natural vibration frequency or the like of the robot. When an operation plan of the robot is created based on an operation command (step 101), a maximum speed of a motor in the operation plan is acquired (step 102), whether or not the maximum speed is included in a resonance avoidance speed range is determined (step 103), and when it is included, the operation plan is recreated such that the maximum speed is equal to or lower than a lower limit speed of the resonance avoidance speed range (step 104).
Claims8
A control method of creating an operation plan of a robot which is a horizontal articulated robot, based on an operation command to the robot, thereby controlling a motor of each of axes of the robot, the control method comprising:
- before driving the robot based on the operation plan, setting in advance, with respect to a speed of the motor for each axis of the robot, a resonance avoidance speed range corresponding to a natural vibration frequency of the robot defined by a lower limit speed and an upper limit speed at which resonance is expected to occur;
- acquiring a maximum speed of the motor of each of axes of the robot in the operation plan;
- and
- in response to determining that the maximum speed of at least one axis driven by the motor in the robot in the operation plan is included in the resonance avoidance speed range, executing resonance avoidance processing of recreating the operation plan such that the maximum speed is equal to or lower than a lower limit speed of the resonance avoidance speed range.
A robot control device connected to a robot via a cable that creates an operation plan of the robot which is a horizontal articulated robot, based on an operation command to the robot, thereby controlling a motor of each of axes of the robot, wherein
- before driving the robot based on the operation plan, the robot control device sets in advance, with respect to a speed of the motor for each axis of the robot, a resonance avoidance speed range corresponding to a natural vibration frequency of the robot defined by a lower limit speed and an upper limit speed at which resonance is expected to occur;
- the robot control device acquires a maximum speed of the motor of each of axes of the robot in the operation plan;
- and
- in response to determining that the maximum speed of at least one axis driven by the motor in the robot in the operation plan is included in the resonance avoidance speed range, the robot control device recreates the operation plan such that the maximum speed is equal to or lower than a lower limit speed of the resonance avoidance speed range.
Dependencies are inferred from the claim text.