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US 9,298,179 B2Granted
Robot and robot controller
AssigneeSeiko Epson Corporation
InventorsShunsuke Toshimitsu, Hiroaki Fujimori, Katsuji Igarashi, Masatoshi Ono, Atsushi Asada
Life of this patent
Estimating the term…
Abstract
A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.
Claims10
A robot comprising:
- a movable arm;
- a drive source that moves the arm;
- an angular velocity sensor provided in the arm;
- a position sensor configured to detect a rotation angle of the drive source;
- a servo circuit configured to perform vibration suppression control based on a detection result of the angular velocity sensor;
- and
- an operation mode setting unit that sets an operation mode of the robot, the operation mode including:
- a first operation mode;
- a second operation mode prioritizing speed;
- and
- a third operation mode prioritizing vibration suppression, wherein:
- the operation mode setting unit changes a correction factor multiplied by a maximum acceleration and a maximum deceleration of the arm and a servo gain of the servo circuit, and accordingly selectively sets the operation mode as the first operation mode, the second operation mode in which the arm operates faster than in the first operation mode, and the third operation mode in which the arm vibrates less than in the first operation mode.
9 more elements
A robot comprising:
- a movable arm;
- a drive source that moves the arm;
- an angular velocity sensor provided in the arm;
- a position sensor configured to detect a rotation angle of the drive source;
- an operation mode setting unit that sets an operation mode of the robot, the operation mode including a first operation mode, a second operation mode prioritizing speed, and a third operation mode prioritizing vibration suppression;
- and
- an arm connected body having a plurality of rotatably connected arms including the arm and a plurality of drive sources including the drive source, wherein:
- a test operation to measure a cycle time includes reciprocating a distal end of the arm connected body at maximum speeds, maximum acceleration, and maximum deceleration of the respective arms under a condition that a weight of 2 kg is held at a distal end of the arm connected body, and
- in each of a first half and a second half of the reciprocating, a rising operation of moving the distal end of the arm connected body by 25 mm upwardly in a vertical direction, a horizontal moving operation of moving the end by 300 mm in a horizontal direction, and a falling operation of moving the end by 25 mm downwardly in the vertical direction are performed, and the rising operation and an initial part of the horizontal moving operation are performed simultaneously and the falling operation and a terminal part of the horizontal moving operation are performed simultaneously.
6 more elements
A robot comprising:
- a movable arm;
- a drive source that moves the arm;
- an angular velocity sensor provided in the arm;
- a position sensor configured to detect a rotation angle of the drive source;
- an operation mode setting unit that sets an operation mode of the robot, the operation mode including a first operation mode, a second operation mode prioritizing speed, and a third operation mode prioritizing vibration suppression;
- and
- an arm connected body having a plurality of rotatably connected arms including the arm and a plurality of drive sources including the drive source, wherein:
- a test operation to measure an excessive amount of passage from position includes rotating the arm to 90° at a maximum speed, maximum acceleration, and maximum deceleration of the arm under a condition that a weight of 2 kg is held at a distal end of the arm connected body.
5 more elements
Dependencies are inferred from the claim text.