Robot system, method for controlling robot system, and storage medium
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsTomomichi ARIGA, Hisashi MORIYAMA
Life of this patent
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Abstract
A robot system according to this disclosure includes a controller configured to, when operating a robot, control a drive shaft by torque control, and, when stopping the robot, switch control of the drive shaft from torque control to velocity control and decelerate the drive shaft by the velocity control to hold a command value of the velocity control at zero so as to maintain a posture of the stopped robot.
Claims14
A robot system comprising:
- a robot including a drive shaft;
- and
- a controller configured to control the robot, wherein
- the controller is configured to, when operating the robot, control the drive shaft by torque control, and, when stopping the robot, switch control of the drive shaft from the torque control to velocity control and decelerate the drive shaft by the velocity control to hold a command value of the velocity control at zero so as to maintain a posture of the stopped robot.
A method for controlling a robot system, the method comprising:
- controlling a drive shaft of a robot by torque control when operating the robot;
- switching control of the drive shaft from the torque control to velocity control when stopping the robot;
- and
- decelerating the drive shaft by the velocity control and maintaining a posture of the stopped robot by holding a command value of the velocity control at zero.
A storage medium for storing a program for controlling a robot system that causes a computer to execute:
- processing for controlling a drive shaft of a robot by torque control when operating the robot;
- processing for switching control of the drive shaft from the torque control to velocity control when stopping the robot;
- and
- processing for decelerating the drive shaft by the velocity control and maintaining a posture of the stopped robot by holding a command value of the velocity control at zero.
Dependencies are inferred from the claim text.