# US 12,759,142 B2 · Control method for robot and robot control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,142 B2 - Document ID: US12759142B2 - Status: Granted - Kind: B2 - Application number: 18/423,295 - Filed: 2024-01-26 - Published: 2024-08-01 - Granted: 2026-10-13 - Earliest claimed: 2023-01-31 - Assignees: Nidec Instruments Corporation - Applicants: Nidec Instruments Corporation - Inventors: Hirokatsu Okumura; Takahiro Shiraki - Web page: https://patentgrep.com/patent/US12759142B2 ## CPC - B25J 9/126: {Rotary actuators} - B25J 9/10: characterised by positioning means for manipulator elements - B25J 9/1651: {acceleration, rate control} - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 9/06: characterised by multi-articulated arms - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## 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). ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The control method according to claim 1, wherein the robot comprises a coupled body in which a plurality of arms are coupled in series, a base to which the coupled body is connected at one end of the coupled body, and a hand attached to an other end of the coupled body, and the resonance avoidance processing is executed on an axis, among the axes, which is at a position where the base and the coupled body are connected. ### Claim 3 (depends on 2) The control method according to claim 2, wherein a number of degrees of freedom of the coupled body in a horizontal plane is two, and a highest speed of each of the axes is reduced when the operation plan is recreated. ### Claim 4 (depends on 3) The control method according to claim 3, wherein the operation plan created based on the operation command is an operation plan based on a point-to-point operation in which timings of acceleration start, acceleration end, deceleration start, and deceleration end coincide in all the axes of the robot. ### Claim 5 (depends on 2) The control method according to claim 2, wherein the operation plan created based on the operation command is an operation plan based on a point-to-point operation in which timings of acceleration start, acceleration end, deceleration start, and deceleration end coincide in all the axes of the robot. ### Claim 6 (depends on 2) The control method according to claim 2, wherein a number of degrees of freedom of the coupled body in a horizontal plane is three or more, the operation plan created based on the operation command is a control plan based on a linear interpolation operation, and an operation plan in which an overall speed is maintained is created when the operation plan is recreated. ### Claim 7 (depends on 6) The control method according to claim 6, wherein the plurality of arms comprises a first arm rotatably connected to the base, a second arm rotatably connected to the first arm, and a third arm rotatably connected to the second arm and rotatably holding the hand, wherein a position where the first arm is connected to the base is set as an origin, a position where the second arm is connected to the first arm is set as a first joint point, a position where the third arm is connected to the second arm is set as a second joint point, and a position where the hand is connected to the third arm is set as a third joint point, and that the second joint point exists on a virtual travel axis passing through the origin in a horizontal plane, and an angle formed by a reference direction extending horizontally through the origin and the virtual travel axis is set as a virtual travel axis angle, an operation plan for changing the virtual travel axis angle during movement is created when the operation plan is regenerated. ### Claim 8 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.