Control device and control method for robot and the robot
AssigneeSeiko Epson Corporation
InventorMasaki MOTOYOSHI
Life of this patent
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Abstract
A control method for suppressing vibration of a robot arm including a plurality of coupled links and driving units configured to drive the links includes calculating a first arm speed from at least one of acceleration and an angular velocity detected in a damping position for suppressing vibration, calculating a third arm speed according to the detected first arm speed and a second arm speed in the damping position calculated on the basis of a driving amount of the driving units, and subjecting the driving units to correction control on the basis of the calculated third arm speed.
Claims10
A control device for a robot including:
- a robot main body;
- an arm coupled to the robot main body and including a plurality of links;
- driving units configured to drive the plurality of links present between the robot main body and a first position of the arm;
- an angle sensor configured to detect a driving amount of the driving units;
- and an inertia sensor set in a first position,
- the control device comprising:
- a first calculating unit configured to calculate a first arm speed from at least one of the acceleration and the angular velocity detected by the inertia sensor;
- a second calculating unit configured to calculate a driving speed from the driving amount of the driving units detected by the angle sensor and calculate a second arm speed in the first position based on the driving amount and the driving speed;
- and
- a control unit configured to control the driving units based on a correction speed calculated for each of the driving units based on the first arm speed and the second arm speed.
The control device for the robot according to claim 5, wherein the inertial sensor is a six-axis sensor.
A control method for a robot including:
- an arm including a plurality of coupled links;
- and driving units configured to drive the plurality of links,
- the control method including:
- detecting a first arm speed in a first position;
- and
- controlling the driving units based on the detected first arm speed and a second arm speed calculated based on a driving amount of the driving units, the second arm speed being a speed at which the first position is driven
Dependencies are inferred from the claim text.