Robot apparatus and control method therefor
AssigneeToshiba Kikai Kabushiki Kaisha
InventorsYuta Matsumoto, Yasunori Nishihara, Jun Fujita
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Abstract
A robot apparatus (1) includes a control apparatus (3) which carries out correction with use of an estimated value of a joint torque estimation unit (53) which estimates a joint torque acting upon each of joints (20 to 25). The joint torque estimation unit (53) includes a Coulomb frictional force torque estimation unit (70), a viscous frictional torque estimation unit (71), and a transition interval arithmetic operation unit (72) which smoothens transition from the Coulomb frictional force torque estimation unit (70) to the viscous frictional force estimation unit (71) and transition from the viscous frictional force torque estimation unit (71) to the Coulomb frictional force torque estimation unit (70).
Claims4
A robot apparatus comprising:
- a joint driven by a drive motor;
- rotational angle detection means which detects a rotational angle of the drive motor;
- and
- a control apparatus which carries out, when the control apparatus controls driving of the joint in response to a value detected by the rotational angle detection means, correction with use of an estimated value from a joint torque estimation unit which estimates a joint torque acting upon the joint;
- the joint torque estimation unit including an inertial torque estimation unit, a Coriolis force torque estimation unit, a centrifugal force torque estimation unit, a gravitational torque estimation unit and a frictional force torque estimation unit;
- the frictional torque estimation unit including a Coulomb frictional force torque estimation unit, a viscous frictional torque estimation unit, and a transition interval arithmetic operation unit which smoothens transition from the Coulomb frictional force torque estimation unit to the viscous frictional force estimation unit and transition from the viscous frictional force torque estimation unit to the Coulomb frictional force torque estimation unit.
A control method for a robot apparatus for carrying out, when a joint is driven in response to a detection value of a rotational angle of a drive motor, correction with use of an estimation value of a joint torque acting upon the joint, the control method comprising:
- obtaining an estimated value of a joint torque of the joint by estimating torques that act upon the joint and include an inertia torque, a Coriolis force torque, a centrifugal force torque, a gravitational torque and a frictional force torque;
- the obtaining an estimated value of a joint torque of the joint including estimating the joint torque of the joint by arithmetically operating, by a transition interval arithmetic operation unit, a frictional force torque during transition from a Coulomb frictional force torque to a viscous frictional force torque and a frictional force torque during transition from the viscous frictional force torque to the Coulomb frictional force torque.
Dependencies are inferred from the claim text.