Robot control method and robot control system
AssigneeFanuc Corporation
InventorsYoshiki Hashimoto, Minoru Enomoto
Life of this patent
Estimating the term…
Abstract
A DSP of a servo control circuit obtains a movement value of a servomotor for each axis for each position-speed feedback processing cycle in accordance with a move command value for each axis delivered from a main processor with every distribution cycle, and also obtains a position correction value in accordance with pressure information detected by a sensor. The DSP of the servo control circuit carries out position-speed feedback processing with the use of a move command value which is obtained by correcting the movement value with the obtained position correction value, and drives the servomotor.
Claims4
A robot control method for correcting an operation of a robot in accordance with information from a sensor, comprising:
- feeding back the information from said sensor to a servo control circuit for feedback-controlling the position and speed of the robot using a processor, in accordance with a move command from a host processor;
- obtaining a position correction value for a position-speed feedback processing cycle in accordance with the information from the sensor with the processor in said servo control circuit;
- correcting a move command value for the position-speed feedback processing cycle in accordance with said position correction value;
- and
- performing position-speed feedback control correcting operation for an axis of the robot.
A robot control system comprising:
- a servo control circuit having a dedicated DSP for digitally controlling a servo amplifier for controlling a servomotor for driving an axis of a robot;
- a main processor for giving a move command for the robot axis to said servo control circuit during a first cycle;
- a pulse coder connected to the DSP of said servo control circuit by high-speed serial communication and attached to said servomotor;
- and
- a force sensor connected to the DSP of said servo control circuit by high-speed serial communication,
- wherein the DSP of said servo control circuit divides said move command value for the first cycle into a move command value for a second cycle and converts pressure information delivered from said force sensor into a position correction value for the second cycle,
- wherein the move command value for the second cycle is corrected with use of the position correction value for the second cycle, and position-speed feedback control is performed in accordance with the corrected move command value for the second cycle and position-speed information delivered from said pulse coder.
A robot control system for a robot, comprising:
- a servomotor driving an axis of the robot;
- a servoamplifier to drive the servomotor;
- a servo control circuit including a dedicated digital signal processor, the digital signal processor digitally controlling the servo amplifier to drive the servomotor;
- a main processor issuing a move command instructing movement of the axis of the robot to the digital signal processor during a first cycle;
- a position and speed detector detecting a position and speed of the servomotor, the position and speed detector providing position and speed information to the digital signal processor;
- a force sensor sensing force and mounted to the robot, the force sensor being connected to the digital signal processor,
- wherein the digital signal processor divides a move command value for the first cycle into a move command value for a second cycle, and converts force information from the force sensor into a position correction value for the second cycle, and
- wherein the digital signal processor corrects the move command value for the second cycle using the position correction value for the second cycle, and position-speed feedback control is performed in accordance with the corrected move command value for the second cycle and position and speed information from the position and speed detector.
A robot control system for a robot, comprising:
- a force sensor sensing force attached to a distal end of the robot, the force sensor sensing force;
- a main processor including movement commands stored therein controlling robot position and speed;
- and
- a servo control circuit including a dedicated digital signal processor,
- wherein the servo control circuit receives a movement command from the main processor and force information representing a force sensed by the force sensor, the dedicated digital signal processor corrects the movement command based on the force information, and issues a corrected movement command based on the force information to control the robot.
Dependencies are inferred from the claim text.