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US 8,380,352 B2Granted
Robot system
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsShingo Ando, Yasuyuki Inoue
Life of this patent
Estimating the term…
Abstract
First calculation means calculates a TCP velocity error vector Verr when wrist axes performs rotational following movement, second calculation means selects a component, including the sign, of the TCP velocity error vector Verr, third calculation means decomposes the selected velocity error vector into a joint velocity vector ωerr, fourth calculation means integrates the joint velocity ωerr and calculates a position correction amount vector θadd, and the position correction amount vector θadd is fed back to position control means with torque limits.
Claims18
A robot system comprising:
- a robot including at least main axes and wrist axes;
- a first calculator configured to calculate a first velocity error vector of a tip of a tool of the robot, the first velocity error vector being generated as a result of the robot following an external force applied to the tool disposed at an end of the robot;
- a second calculator configured to output a second velocity error vector, the second velocity error vector including a vector component of the first velocity error vector that has been calculated, the vector component being related to translational movement;
- a third calculator configured to decompose the second velocity error vector that has been output into a joint velocity vector of the main axes;
- a fourth calculator configured to calculate a position correction amount vector by integrating the joint velocity vector that has been decomposed;
- and
- a position controller configured to generate a position command using the position correction amount vector and to control positions of drive motors of the robot on the basis of the position command.
4 more elements
A robot system comprising:
- a robot including at least main axes and wrist axes;
- a first calculator configured to calculate a first velocity error vector of a tip of a tool of the robot, the first velocity error vector being generated as a result of the robot following an external force applied to the tool disposed at an end of the robot;
- a second calculator configured to output a second velocity error vector, the second velocity error vector being obtained by selecting a vector component related to rotational movement in the first velocity error vector that has been calculated and by making a magnitude of the selected component zero;
- a third calculator configured to decompose the second velocity error vector that has been output into a joint velocity vector of the main axes and the wrist axes;
- a fourth calculator configured to calculate a position correction amount vector by integrating the joint velocity vector that has been decomposed;
- and
- a position controller configured to generate a position command using the position correction amount vector and to control positions of drive motors of the robot on the basis of the position command.
4 more elements
A robot system comprising:
- a robot including at least main axes and wrist axes;
- a first calculator configured to calculate a first velocity error vector of a tip of a tool of the robot, the first velocity error vector being generated as a result of the robot following an external force applied to the tool disposed at an end of the robot;
- a second calculator configured to output a second velocity error vector, the second velocity error vector being obtained by selecting a vector component related to rotational movement in the first velocity error vector that has been calculated and by inverting a sign of the selected component;
- a third calculator configured to decompose the second velocity error vector that has been output into a joint velocity vector of the main axes and the wrist axes;
- a fourth calculator configured to calculate a position correction amount vector by integrating the joint velocity vector that has been decomposed;
- and
- a position controller configured to generate a position command using the position correction amount vector and to control positions of drive motors of the robot on the basis of the position command.
4 more elements
A robot system comprising:
- a robot including at least main axes and wrist axes;
- means for calculating a first velocity error vector of a tip of a tool of the robot, the first velocity error vector being generated as a result of the robot following an external force applied to the tool disposed at an end of the robot;
- means for outputting a second velocity error vector, the second velocity error vector including a vector component of the first velocity error vector that has been calculated, the vector component being related to translational movement;
- means for decomposing the second velocity error vector that has been output into a joint velocity vector of the main axes;
- means for calculating a position correction amount vector by integrating the joint velocity vector that has been decomposed;
- and
- means for generating a position command using the position correction amount vector and for controlling positions of drive motors of the robot on the basis of the position command.
4 more elements
A robot system comprising:
- a robot including at least main axes and wrist axes;
- means for calculating a first velocity error vector of a tip of a tool of the robot, the first velocity error vector being generated as a result of the robot following an external force applied to the tool disposed at an end of the robot;
- means for outputting a second velocity error vector, the second velocity error vector being obtained by selecting a vector component related to rotational movement in the first velocity error vector that has been calculated and by making a magnitude of the selected component zero;
- means for decomposing the second velocity error vector that has been output into a joint velocity vector of the main axes and the wrist axes;
- means for calculating a position correction amount vector by integrating the joint velocity vector that has been decomposed;
- and
- means for generating a position command using the position correction amount vector and for controlling positions of drive motors of the robot on the basis of the position command.
4 more elements
A robot system comprising:
- a robot including at least main axes and wrist axes;
- means for calculating a first velocity error vector of a tip of a tool of the robot, the first velocity error vector being generated as a result of the robot following an external force applied to the tool disposed at an end of the robot;
- means for outputting a second velocity error vector, the second velocity error vector being obtained by selecting a vector component related to rotational movement in the first velocity error vector that has been calculated and by inverting a sign of the selected component;
- means for decomposing the second velocity error vector that has been output into a joint velocity vector of the main axes and the wrist axes;
- means for calculating a position correction amount vector by integrating the joint velocity vector that has been decomposed;
- and
- means for generating a position command using the position correction amount vector and for controlling positions of drive motors of the robot on the basis of the position command.
4 more elements
Dependencies are inferred from the claim text.