Control device for robot system
AssigneesKawasaki Jukogyo Kabushiki Kaisha, Medicaroid Corporation
InventorsRikuya UEKAJI, Tsuyoshi TAGASHIRA
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Abstract
A control device of a robot system including a plurality of robots having servo motors of a plurality of axes. The control device includes a plurality of controllers each having a plurality of servo amplifiers that drives the servo motors of the plurality of axes of the robots, and a control unit that controls the plurality of servo amplifiers. The control unit determines a driving number of the servo motors of the plurality of axes in accordance with the robots connected to the controllers, and sets a parameter for the servo amplifiers that drive the axes of the servo motors of a number corresponding to the determined driving number.
Claims20
A control device for a robot system including a plurality of robots having servo motors of a plurality of axes,
- the control device comprising a plurality of controllers each having a plurality of servo amplifiers that drives the servo motors of the plurality of axes of the robots, and a control unit that controls the plurality of servo amplifiers,
- wherein the control unit is configured to determine a driving number of the servo motors of the plurality of axes in accordance with the robots connected to the plurality of controllers, and to set a parameter for the servo amplifiers that drive the axes of the servo motors of a number corresponding to the determined driving number.
A medical manipulator system comprising:
- a first slave arm that is configured to hold a first medical instrument at a distal end of the first slave arm, and has joints of a plurality of axes and a plurality of servo motors provided for each of the joints of the plurality of axes;
- a second slave arm that is configured to hold a second medical instrument at a distal end of the second slave arm, and has joints of a plurality of axes and a plurality of servo motors provided for each of the joints of the plurality of axes;
- a first controller having a plurality of servo amplifiers that drives the plurality of servo motors of the first slave arm, and a first control unit that controls the plurality of servo amplifiers;
- and
- a second controller having a plurality of servo amplifiers that drives the plurality of servo motors of the second slave arm, and a second control unit that controls the plurality of servo amplifiers,
- wherein the first control unit is configured to determine a driving number of the plurality of servo motors in accordance with the first slave arm connected to the first controller, and to set a parameter for the servo amplifiers that drive the servo motors of a number corresponding to the determined driving number, and
- the second control unit is configured to determine a driving number of the plurality of servo motors in accordance with the second slave arm connected to the second controller, and to set a parameter for the servo amplifiers that drive the servo motors of a number corresponding to the determined driving number.
A method of controlling a robot system by a control device,
- the robot system including a plurality of robots having servo motors of a plurality of axes,
- the control device including a plurality of controllers each having a plurality of servo amplifiers that drives the servo motors of the plurality of axes of the robots, and a control unit that controls the plurality of servo amplifiers,
- the method comprising the steps of:
- determining a driving number of the servo motors of the plurality of axes by the control unit in accordance with the robots connected to the plurality of controllers;
- and
- setting a parameter for the servo amplifiers that drive the axes of the servo motors of a number corresponding to the determined driving number.
Dependencies are inferred from the claim text.