Parallel link robot, parallel link robot system, and method of controlling parallel link robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorMitsuaki Nakanishi
Life of this patent
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Abstract
A parallel link robot includes a base, three servo motors disposed in the base, three arms, and a robot controller. Each of the three arms includes a first link and a second link that respectively include a first joint and a second joint. Each of the three arms is driven by a corresponding one of the three servo motors. The robot controller determines whether or not any of the first and second joints of the arms is dislocated on the basis of the torques of the three servo motors.
Claims14
A parallel link robot comprising:
- a base;
- a plurality of drive sources disposed in the base;
- a plurality of arms that each includes a link including a joint, each of the plurality of arms being driven by a corresponding one of the plurality of drive sources;
- and
- a dislocation detector that determines whether or not any of the joints of the arms is dislocated on the basis of a driving force of at least one of the plurality of drive sources,
- wherein the dislocation detector estimates a driving force of a predetermined one of the drive sources corresponding to a predetermined one of the arms in at least one of a dislocated state and a normal state, the dislocated state being a state in which the joint of the predetermined arm is dislocated, the normal state being a state in which the joint of the predetermined arm is normal, and the dislocation detector determines whether or not the joint of the predetermined arm is dislocated on the basis of the estimated driving force of the predetermined drive source and an actual driving force of the predetermined drive source.
A parallel link robot system comprising:
- a parallel link robot including
- a base,
- a plurality of drive sources disposed in the base,
- a plurality of arms that each includes a link including a joint, each of the plurality of arms being driven by a corresponding one of the plurality of drive sources;
- and
- a robot controller that controls motion of the parallel link robot,
- wherein the robot controller determines whether or not any of the joints of the arms is dislocated on the basis of a driving force of at least one of the plurality of drive sources, and
- wherein the dislocation detector estimates a driving force of a predetermined one of the drive sources corresponding to a predetermined one of the arms in at least one of a dislocated state and a normal state, the dislocated state being a state in which the joint of the predetermined arm is dislocated, the normal state being a state in which the joint of the predetermined arm is normal, and the dislocation detector determines whether or not the joint of the predetermined arm is dislocated on the basis of the estimated driving force of the predetermined drive source and an actual driving force of the predetermined drive source.
A method of controlling a parallel link robot including a base, a plurality of drive sources disposed in the base, and a plurality of arms that each includes a link including a joint, each of the plurality of arms being driven by a corresponding one of the plurality of drive sources, the method comprising:
- determining, using a robot controller that controls motion of the parallel link robot, whether or not any of the joints the arms is dislocated on the basis of a driving force of at least one of the plurality of drive sources,
- wherein the determining whether or not the joint is dislocated includes
- estimating a driving force of a predetermined one of the drive sources corresponding to a predetermined one of the arms in at least one of a dislocated state and a normal state, the dislocated state being a state in which the joint of the predetermined arm is dislocated, the normal state being a state in which the joint of the predetermined arm is normal, and
- determining whether or not the joint of the predetermined arm is dislocated on the basis of the estimated driving force of the predetermined drive source and an actual driving force of the predetermined drive source.
Dependencies are inferred from the claim text.