Robot control device, a robot control method, and a picking device
AssigneeKabushiki Kaisha Toshiba
InventorJunji OAKI
Life of this patent
Estimating the term…
Abstract
According to one embodiment, a robot control device is used for a robot arm including a link and a motor for rotationally driving the link. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.
Claims11
A robot control device used for a robot arm including a link and a motor for rotationally driving the link,
- the robot control device comprising:
- a derivation part that derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor, and derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.
A robot control device used for a robot arm including a link and a motor for rotationally driving the link,
- the robot control device comprising:
- a derivation part that derives PI control output values of the link and the motor, based on an angular velocity and a current reference value of the motor, and derives an external disturbance torque generated to the robot arm, based on the PI control output values.
A method for controlling a robot control device used for a robot arm including a link and a motor for rotationally driving the link,
- the method comprising:
- deriving a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor;
- and
- deriving an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.
Dependencies are inferred from the claim text.