US 2015/0165620 A1Published application

Robot apparatus, robot controlling method, program and recording medium

AssigneeCanon Kabushiki Kaisha

InventorTsutomu Osaka

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Abstract

A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.

Claims17

Dependent claims

A robot apparatus comprising:

a robot having a robot arm of multi-joint and an end effector attached to an end of the robot arm;
and
a control unit configured to control an operation of the robot, wherein
the robot arm has a joint driving unit configured to drive the joint,
the joint driving unit has a rotating motor, a speed reducer transmitting a rotation of the rotating motor in a variable speed, an input angle detecting unit detecting a rotation angle of a rotation axis of the rotating motor or an input axis of the speed reducer, and an output angle detecting unit detecting a rotation angle of an output axis of the speed reducer, and
the control unit controls the operation of the robot, to set to an output based control mode such that an angle of the joint is feed-back controlled based on an angle detection value of the output angle detecting unit when the end effector is to be aligned with a working start position at which the robot starts a predetermined working, and to change to an input based control mode such that the angle of the joint is feed-back controlled based on an angle detection value of the input angle detecting unit when the operation of the robot is controlled to perform the predetermined working.

3 more elements

Dependencies are inferred from the claim text.