Robot device and stepping motor control device

A robot device, comprising:

• a robot arm mechanism having a joint;
• a stepping motor that generates motive power that actuates the joint;
• a motor driver that drives the stepping motor;
• a trajectory calculating section that calculates a trajectory along which an attention point of the robot arm mechanism moves from a movement starting position that is a current position to a final target position;
• a command value outputting section that outputs a command value in accordance with the trajectory calculated by the trajectory calculating section to the motor driver;
• a step-out detecting section that detects a step-out of the stepping motor;
• and
• a system control section that, when the step-out is detected, controls the trajectory calculating section and the command value outputting section so as to calculate a trajectory that returns to the movement starting position from a position of the attention point that is shifted due to the step-out, and to return the attention point to the movement starting position along the calculated trajectory.

A robot device, comprising:

• a robot arm mechanism having a joint;
• a stepping motor that generates motive power that actuates the joint;
• a motor driver that drives the stepping motor;
• a trajectory calculating section that calculates a trajectory along which an attention point of the robot arm mechanism moves from a movement starting position that is a current position to a final target position;
• a command value outputting section that outputs a command value in accordance with the trajectory calculated by the trajectory calculating section to the motor driver;
• a step-out detecting section that detects a step-out of the stepping motor;
• and
• a system control section that, when the step-out is detected, controls the trajectory calculating section and the command value outputting section so as to, when a shifted distance of the attention point that is shifted due to the step-out from the trajectory is less than or equal to a predetermined distance and a delay time from a time point at which the step-out is detected to a time point of recovery from the step-out is less than or equal to a predetermined time, move the attention point along a trajectory from a position of the attention point that is shifted due to the step-out to the final target position, and when the shifted distance is not less than or equal to the predetermined distance or the delay time is not less than or equal to the predetermined time, return the attention point from the position of the attention point that is shifted due to the step-out to the movement starting position.

A stepping motor control device that controls a stepping motor that generates motive power that actuates a joint that is mounted in a robot arm mechanism, comprising:

• a trajectory calculating section that calculates a trajectory along which an attention point of the robot arm mechanism moves from a current position to a final target position;
• a command value outputting section that outputs a command value in accordance with the trajectory calculated by the trajectory calculating section to the motor driver;
• a step-out detecting section that detects a step-out of the stepping motor;
• and
• a system control section that, when the step-out is detected, controls the trajectory calculating section and the command value outputting section so as to recalculate a trajectory from a position of the attention point that is shifted due to the step-out to the final target position and to move the attention point in accordance with the recalculated trajectory.

A stepping motor control device that controls a stepping motor that generates motive power that actuates a joint that is mounted in a robot arm mechanism, comprising:

• a trajectory calculating section that calculates a trajectory along which an attention point of the robot arm mechanism moves from a movement starting position that is a current position to a final target position;
• a command value outputting section that outputs a command value in accordance with the trajectory calculated by the trajectory calculating section to the motor driver;
• a step-out detecting section that detects a step-out of the stepping motor;
• and
• a system control section that, when the step-out is detected, controls the trajectory calculating section and the command value outputting section so as to calculate a trajectory that returns to the movement starting position from a position of the attention point that is shifted due to the step-out, and to return the attention point to the movement starting position along the calculated trajectory.

A stepping motor control device that controls a stepping motor that generates motive power that actuates a joint that is mounted in a robot arm mechanism, comprising:

• a trajectory calculating section that calculates a trajectory along which an attention point of the robot arm mechanism moves from a movement starting position that is a current position to a final target position;
• a command value outputting section that outputs a command value in accordance with the trajectory calculated by the trajectory calculating section to the motor driver;
• a step-out detecting section that detects a step-out of the stepping motor;
• and
• a system control section that, when the step-out is detected, controls the trajectory calculating section and the command value outputting section so as to, when a shifted distance of the attention point that is shifted due to the step-out from the trajectory is less than or equal to a predetermined distance and a delay time from a time point at which the step-out is detected to a time point of recovery from the step-out is less than or equal to a predetermined time, move the attention point along a trajectory from a position of the attention point that is shifted due to the step-out to the final target position, and when the shifted distance is not less than or equal to the predetermined distance or the delay time is not less than or equal to the predetermined time, return the attention point from the position of the attention point that is shifted due to the step-out to the movement starting position.