US 9,306,434 B2Granted

Control apparatus for controlling rotation of joints of robot

AssigneesDenso Wave Incorporated, Nikon Corporation

InventorsTakeshi Ueda, Yoshiji Takahashi, Toru Morita, Kou Ohno

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Abstract

A joint of a robot includes a driving motor, a speed reducer that reduces rotation of an output shaft of the motor, and an arm connected to the speed reducer. The joint includes an input encoder that detects a rotational position of the motor and an output encoder that detects a rotational position of the arm. A controller controls the motor based on data indicating the rotational positions of the motor and the arm detected by the input encoder and the output encoder, respectively. The input encoder is arranged with a register that latches and retains an input EC value. The output encoder includes a register that latches and retains an output EC value, and an edge pulse output section that outputs an edge pulse to both registers every time the output EC value changes. In response to the edge pulse, both registers concurrently output EC values to the controller.

Claims7

Dependent claims

A control apparatus that controls rotation of a joint of a robot having a structure in which rotation of an electric motor is reduced by a speed reducer and transferred to an arm, comprising:

a first encoder that detects a rotational position of the motor to output motor rotational position data indicating the rotational position;
a second encoder that detects a rotational position of the arm to output arm rotational position data indicating the rotational position;
a first latch circuit arranged in the first encoder and latches the motor rotational position data;
a second latch circuit arranged in the second encoder and latches the arm rotational position data;
a latch signal output means arranged in the second encoder outputs a latch signal to the first and second latch circuits every time there is a change in the arm rotational position data;
and
a control means that controls, when the latch signal is outputted, rotation of the motor on the basis of the motor rotational position data and the arm rotational position data latched in the first and second latch circuits.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/387,736Filed 26 Mar 2013
Priority: JP 2012-07914330 Mar 2012
Published: US 2015/0048724 A119 Feb 2015
Granted: 5 Apr 2016
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

H02K 11/21
For measuring, monitoring, testing, protecting or switching: devices for sensing speed or position, or actuated thereby
B25J 9/10
Program-controlled manipulators: characterised by positioning means for manipulator elements
G05B 19/19
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
H02K 7/116
Structural association with clutches, brakes, gears, pulleys or mechanical starters: with gears