US 2004/0128030 A1 · Robot control apparatus and method

Abstract

A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.

Claims11

Dependent claims

A robot control apparatus having a position and speed control system for each axis of a robot in order to control a servo motor for driving the axis, comprising:

an angle measuring device for measuring a joint angle in relation to a joint coordinate system of the servo motor;
a motion torque calculating section for calculating a motion torque command which is required for a motion of the servo motor based on a joint command;
a disturbance torque estimating section for calculating a disturbance torque from a position and speed torque command calculated by the position and speed control system and the motion torque command;
a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of the robot and a joint coordinate system of the servo motor based on the joint angle;
an external force calculating section for carrying out a conversion to an external force on the task coordinate system by using the disturbance torque and the minute displacement relationship;
a force control section for calculating a position correction amount on the task coordinate system of the robot based on the external force;
and
a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system by using the position correction amount and the minute displacement relationship.

5 more elements

A robot control apparatus having a position and speed system for controlling a robot and an external axis to be operated in cooperation with the robot, comprising:

a robot axis motion torque calculating section for calculating a motion torque command which is required for a motion of the robot axis based on a joint command of the robot axis;
a robot axis disturbance torque estimating section for calculating a disturbance torque from a position and speed torque command calculated by the position and speed control system and the robot axis motion torque command;
a robot axis external force calculating section for converting the robot axis disturbance torque to an external force on a task coordinate system;
an external axis motion torque calculating section for calculating a motion torque command which is required for a motion of the external axis based on a joint command of the external axis;
an external axis disturbance torque estimating section for calculating a disturbance torque from the position and speed torque command calculated by the position and speed control system and the external axis motion torque command;
and
an external axis external force calculating section for converting the external axis disturbance torque to an external force on the task coordinate system.

4 more elements

Dependencies are inferred from the claim text.

Robot control apparatus and method

Life of this patent

Robot control apparatus and method

Life of this patent

Abstract

Claims11