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US 8,509,950 B2Granted
Control apparatus and control method for robot, robot, and control program therefor
AssigneePanasonic Corporation
InventorMayumi Komatsu
Life of this patent
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Abstract
A desired joint torque output limiting unit limits operations of a desired joint torque output unit and a limit cancellation unit cancels the limitation by the output limiting unit. An actuator of a joint of a robot is controlled in accordance with modified desired joint torque outputted from the output limiting unit, so that the robot can be controlled even upon switching between dynamics parameters.
Claims8
A control apparatus for a robot comprising a joint, the control apparatus comprising:
- a control apparatus computer configured to operate as:
- a dynamics parameter acquisition unit that acquires a plurality of dynamics parameters for the robot and an object gripped by the robot;
- a desired joint torque output unit that outputs, as a desired joint torque, a desired value of torque of the joint of the robot;
- a dynamics parameter switching unit that switches between the plurality of dynamics parameters acquired by the dynamics parameter acquisition unit;
- a desired joint torque output limiting unit that limits an output of the desired joint torque from the desired joint torque output unit after the dynamics parameter switching unit switches between the dynamics parameters;
- and
- a limit cancellation unit that cancels a limitation by the desired joint torque output limiting unit,
- wherein, immediately after the dynamics parameters are switched, the desired joint torque output limiting unit maintains the output of the desired joint torque from the desired joint torque output unit to a value immediately before the dynamics parameters are switched.
5 more elements
A control apparatus for a robot comprising a joint, the control apparatus comprising:
- a dynamics parameter acquisition unit that acquires a plurality of dynamics parameters for the robot and an object gripped by the robot;
- a desired joint torque output unit that outputs, as a desired joint torque, a desired value of torque of the joint of the robot;
- a dynamics parameter switching unit that switches between the plurality of dynamics parameters acquired by the dynamics parameter acquisition unit;
- a desired joint torque output limiting unit that limits an output of the desired joint torque from the desired joint torque output unit after the dynamics parameter switching unit switches between the dynamics parameters;
- and
- a limit cancellation unit that cancels a limitation by the desired joint torque output limiting unit;
- and
- a robot shift detection unit that detects a shift of the robot,
- wherein the desired joint torque output limiting unit maintains the desired joint torque outputted from the desired joint torque output unit at a moment when the robot shift detection unit detects the shift of the robot.
6 more elements
A control apparatus for a robot comprising a joint, the control apparatus comprising:
- a dynamics parameter acquisition unit that acquires a plurality of dynamics parameters for the robot and an object gripped by the robot;
- a desired joint torque output unit that outputs, as a desired joint torque, a desired value of torque of the joint of the robot;
- a dynamics parameter switching unit that switches between the plurality of dynamics parameters acquired by the dynamics parameter acquisition unit;
- a desired joint torque output limiting unit that limits an output of the desired joint torque from the desired joint torque output unit after the dynamics parameter switching unit switches between the dynamics parameters;
- and
- a limit cancellation unit that cancels a limitation by the desired joint torque output limiting unit,
- wherein the dynamics parameter switching unit comprises an object grip detection unit that detects that the object is gripped by the robot, and
- the dynamics parameter switching unit switches between the dynamics parameters after the object grip detection unit detects that the object is gripped.
5 more elements
A method of controlling a robot including a joint, the method comprising:
- acquiring, by a dynamics parameter acquisition unit, a plurality of dynamics parameters for the robot and an object gripped by the robot;
- outputting, from a desired joint torque output unit, a desired value of torque of the joint of the robot as a desired joint torque;
- switching, by a dynamics parameter switching unit, between the plurality of the dynamics parameters acquired by the dynamics parameter acquisition unit;
- limiting, by a desired joint torque output limiting unit, the output of the desired joint torque from the desired joint torque output unit after the dynamics parameter switching unit switches between the dynamics parameters;
- and
- canceling, by a limit cancellation unit, the limitation by the desired joint torque output limiting unit,
- wherein, immediately after the dynamics parameters are switched, the desired joint torque output limiting unit maintains the output of the desired joint torque from the desired joint torque output unit to a value immediately before the dynamics parameters are switched.
4 more elements
A method of controlling a robot including a joint, the method comprising:
- acquiring, by a dynamics parameter acquisition unit, a plurality of dynamics parameters for the robot and an object gripped by the robot;
- outputting, from a desired joint torque output unit, a desired value of torque of the joint of the robot as a desired joint torque;
- switching, by a dynamics parameter switching unit, between the plurality of the dynamics parameters acquired by the dynamics parameter acquisition unit;
- limiting, by a desired joint torque output limiting unit, the output of the desired joint torque from the desired joint torque output unit after the dynamics parameter switching unit switches between the dynamics parameters;
- and
- canceling, by a limit cancellation unit, the limitation by the desired joint torque output limiting unit,
- wherein when switching by a dynamics parameter switching unit, it is detected by an object grip detection unit that the object is gripped by the robot, and
- the dynamics parameter switching unit switches between the dynamics parameters after the object grip detection unit detects that the object is gripped.
5 more elements
Dependencies are inferred from the claim text.