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US 2017/0120449 A1Published application
Simulation apparatus of robot, simulation method of robot, control unit and robot system
AssigneeMitsubishi Heavy Industries, Ltd.
InventorsNatsuki MATSUNAMI, Tomohiro TAMI, Naoto KAWAUCHI
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Abstract
A movable range of angle of each of the plurality of joints and a safety region defined within the movable range are set. An angle command value is generated to each of the plurality of joints, based on current angle data and a distal end position command value. A fault avoidance control is carried out to make a change rate of the angle command value small, when the angle command value is generated to either of the plurality of joints, and the angle command value of the joint exceeds the safety region.
Claims13
A simulation apparatus of a multi joint manipulator having a plurality of joints, comprising:
- a display section which visibly provides data;
- a storing section which stores a software program and stores a movable range of angle of each of the plurality of joints and a safety region defined within the movable range in the storage unit;
- and
- a processing unit which executes the software program to implement a processing section which comprises:
- an angle command value calculating section which generates an angle command value for each of the plurality of joints, based on current angle data indicating a current angle of each of the plurality of joints and a distal end position command value of the multi-joint manipulator, and which carries out a fault avoidance control to make a change rate of the angle command value small, when the angle command value is generated to a stop joint candidacy which is either of the plurality of joints and the angle command value of which exceeds the safety region,
- wherein the processing section outputs data showing the processing result to the display section such that an operation of the multi joint manipulator is virtually realized.
3 more elements
A control unit which controls a multi-joint manipulator having a plurality of joints, comprising:
- a storing section which stores a software program and stores a movable range of angle of each of the plurality of joints and a safety region defined within the movable range in the storage unit;
- and
- a processing unit which executes the software program to implement a processing section which comprises:
- an angle command value calculating section which generates an angle command value for each of the plurality of joints, based on current angle data indicating a current angle of each of the plurality of joints and a distal end position command value of the multi joint manipulator, and which carries out a fault avoidance control to make a change rate of the angle command value small, when the angle command value is generated to a stop joint candidacy which is either of the plurality of joints and the angle command value of which exceeds the safety region,
- wherein the processing section controls the multi joint manipulator based on the generated angle command values data.
2 more elements
A robot system comprising:
- a multi joint manipulator having a plurality of joints;
- a storing section which stores a software program and stores a movable range of angle of each of the plurality of joints and a safety region defined within the movable range in the storage unit;
- and
- a processing unit which executes the software program to implement a processing section which comprises:
- an angle command value calculating section which generates an angle command value for each of the plurality of joints, based on current angle data indicating a current angle of each of the plurality of joints and a distal end position command value of the multi joint manipulator, and which carries out a fault avoidance control to make a change rate of the angle command value small, when the angle command value is generated to a stop joint candidacy which is either of the plurality of joints and the angle command value of which exceeds the safety region,
- wherein the processing section controls the multi joint manipulator based on the generated angle command values data.
3 more elements
A simulation method of a multi joint manipulator having a plurality of joints, comprising:
- providing in a storage unit, a movable range of angle of each of the plurality of joints and a safety region defined within the movable range;
- generating, by a processing unit, an angle command value of each of the plurality of joints based on current angle data indicating current angle of each of the plurality of joints and a distal end position command value of the multi joint manipulator;
- wherein the generating an angle command value comprises:
- carrying out a fault avoidance control to make a change rate of the angle command value small, when the angle command value for one of the plurality of joints as a stop joint candidacy exceeds the safety region;
- and
- virtually displaying an operation of the multi joint manipulator based on the generated angle command values.
3 more elements
A method of controlling a multi joint manipulator having a plurality of joints, comprising:
- providing in a storage unit, a movable range of angle of each of the plurality of joints and a safety region defined within the movable range;
- generating, by a processing unit, an angle command value of each of the plurality of joints based on current angle data indicating current angle of each of the plurality of joints and a distal end position command value of the multi joint manipulator;
- carrying out a fault avoidance control for the multi-joint manipulator to make a change rate of the angle command value small, when the angle command value for one of the plurality of joints as a stop joint candidacy exceeds the safety region;
- and
- controlling the multi joint manipulator based on the generated angle command values data.
2 more elements
(canceled)
Dependencies are inferred from the claim text.