Robot control method and robot control device
AssigneePanasonic Intellectual Properly Management Co., Ltd.
InventorsHIROYUKI NAKATA, HIROYOSHI UEDA, RYOSUKE YAMAMOTO, ATSUMI HASHIMOTO, YASUYOSHI HONUCHI, MASAYOSHI IWATANI
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Abstract
Stop and start detection block (63) determines whether or not a joint portion is in a stopped state before a rotation direction of the joint portion is inverted based on stop flag signal (Stop_Flg). When it is determined that the joint portion is in the stopped state, filter processing block (65) changes a frequency component of a correction amount for correcting backlash to a low frequency lower than a predetermined threshold value.
Claims4
A robot control method for controlling an operation of a robot arm having a plurality of joint portions, the method comprising:
- determining whether or not a joint portion is in a stopped state before a rotation direction of the joint portion to be corrected among the plurality of joint portions is inverted;
- and
- changing a frequency component of a correction amount for correcting backlash at the joint portion to a low frequency lower than a predetermined threshold value when it is determined that the joint portion is in the stopped state.
A robot control device for controlling an operation of a robot arm having a plurality of joint portions, the device comprising:
- a determination unit that determines whether or not the joint portion is in a stopped state before a rotation direction of the joint portion to be corrected among the plurality of joint portions is inverted;
- and
- a frequency changing unit that changes a frequency component of a correction amount for correcting backlash at the joint portion to a low frequency lower than a predetermined threshold value when it is determined that the joint portion is in the stopped state.
Dependencies are inferred from the claim text.