Robot control based on equivalent mass matrix
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsKeita SHIMAMOTO, Toshiyuki MURAKAMI
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Abstract
A robot control system includes circuitry configured to: acquire velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis; select an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to the velocity being zero and a second equivalent mass matrix corresponding to the velocity not being zero; and generate a control signal for controlling the robot based on the selected equivalent mass matrix.
Claims20
A robot control system comprising circuitry configured to:
- acquire velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis;
- select an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to the velocity being zero and a second equivalent mass matrix corresponding to the velocity not being zero;
- and
- generate a control signal for controlling the robot based on the selected equivalent mass matrix.
A robot control method executable by a robot control system including at least one processor, the method comprising:
- acquiring velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis;
- selecting an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to the velocity being zero and a second equivalent mass matrix corresponding to the velocity not being zero;
- and
- generating a control signal for controlling the robot based on the selected equivalent mass matrix.
A non-transitory computer-readable storage medium storing processor-executable instructions to:
- acquire velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis;
- select an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to the velocity being zero and a second equivalent mass matrix corresponding to the velocity not being zero;
- and
- generate a control signal for controlling the robot based on the selected equivalent mass matrix.
Dependencies are inferred from the claim text.