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US 2022/0134553 A1Published application
Torque control of a motor
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKeita SHIMAMOTO, Koji UEMURA
Life of this patent
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Abstract
A robot system includes: a robot comprising a joint driven by a motor; and a circuitry configured to: execute position control of the motor based on position commands; store torque commands generated based on the position commands during execution of the position control of the motor; and execute torque control of the motor based on the stored torque commands.
Claims20
A robot system comprising:
- a robot comprising a joint driven by a motor;
- and
- circuitry configured to:
- execute position control of the motor based on position commands;
- store a torque commands generated based on the position commands during execution of the position control of the motor;
- and
- execute torque control of the motor based on the stored torque commands.
4 more elements
A method for controlling a robot having a joint driven by a motor, the method comprising:
- executing position control of the motor based on position commands;
- storing torque commands generated based on the position commands during execution of the position control;
- and
- executing torque control of the motor based on the stored torque commands.
1 more element
A servo system comprising:
- a motor;
- and
- circuitry configured to:
- execute position control of the motor based on position commands;
- store torque commands generated based on the position commands during execution of the position control;
- and
- execute torque control of the motor based on the stored torque commands.
4 more elements
Dependencies are inferred from the claim text.