Method For Controlling Robot, Robot System, And Storage Medium
AssigneeSeiko Epson Corporation
InventorIsamu SEJIMO
Life of this patent
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Abstract
Provided is a method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm. The method includes a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector, a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step, and a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.
Claims9
A method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm, the method comprising:
- a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector;
- a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step;
- and
- a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.
A robot system comprising:
- a base;
- a robot arm coupled to the base;
- a drive unit including a motor for driving the robot arm;
- and
- a control unit configured to control an actuation of the robot arm, wherein
- the control unit includes:
- an acquisition unit configured to acquire weight information, which is information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector;
- and
- a correction signal generation unit configured to determine a frequency component to be removed from a drive signal based on the weight information acquired by the acquisition unit and to remove the determined frequency component from the drive signal to generate a correction drive signal.
A non-transitory computer-readable storage medium storing a program for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm, the program causing the robot to execute:
- a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector;
- a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step;
- and
- a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.
Dependencies are inferred from the claim text.