# US 9,676,100 B2 · Control apparatus of robot, robot, and program thereof

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 9,676,100 B2
- Document ID: US9676100B2
- Status: Granted
- Kind: B2
- Application number: 14/363,228
- Filed: 2013-02-05
- Published: 2015-02-19
- Granted: 2017-06-13
- Earliest claimed: 2012-02-16
- Assignees: Canon Kabushiki Kaisha
- Applicants: Canon Kabushiki Kaisha
- Inventors: Motoyasu Tanaka
- Web page: https://patentgrep.com/patent/US9676100B2

## CPC

- B25J 9/1638: {compensation for arm bending/inertia, pay load weight/inertia}
- G05B 2219/41139: Compensate dynamic deflection of slide, calculated with position, speed, torque deflection values
- G05B 2219/42289: Avoid overload servo motor, actuator limit servo torque
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A trajectory along which a robot is driven by an actuator is calculated using a first constraint value. A target value of the robot and a second constraint value are used to calculate a target trajectory of the robot. A deflection correction amount of the robot is calculated. The target trajectory is corrected from the deflection correction amount to calculate a deflection correction trajectory. Performance of the actuator necessary to operate the robot based on the deflection correction trajectory is calculated. It is determined whether a first condition that the actuator performance is within a range of the first constraint value and a second condition that a difference between the first constraint value and the actuator performance is within a range of a predetermined value are satisfied. The deflection trajectory is output to the actuator if it is determined that the first condition and the second condition are satisfied.

## Claims

### Claim 1

A trajectory generation apparatus for calculating a trajectory along which a robot is driven in which each of a plurality of joint sections is driven by an actuator with a first constraint value that is set as an upper limit of performance, the trajectory generation apparatus comprising:
at least one processor and a memory functioning as:
a target trajectory calculation unit constructed to use a target value of the robot and the first constraint value to solve an optimal control problem to calculate a target trajectory from a first point to a second point of the robot;
a deflection correction amount calculation unit constructed to calculate a deflection correction amount of each of the plurality of joint sections of the robot when the robot is operated based on the target trajectory;
a deflection correction trajectory calculation unit constructed to correct the target trajectory from the first point to the second point from the respective deflection correction amounts to calculate a deflection correction trajectory from the first point to the second point;
an actuator performance calculation unit constructed to calculate performance of the actuator necessary to operate the robot based on the deflection correction trajectory;
a determination unit constructed to determine whether a first condition that the actuator performance calculated by the actuator performance calculation unit is within a range of the first constraint value and a second condition that a difference between the first constraint value and the actuator performance is within a range of a predetermined value are satisfied;
a recalculating unit constructed to recalculate the target trajectory of the robot by replacing the first constraint value in the target trajectory calculation unit with a second constraint value and using the target value of the robot and the second constraint value to solve the optimal control problem if the determination unit determines that one of the first condition and the second condition is not satisfied; and
a trajectory decision unit constructed to output to the actuator, as a trajectory of the robot, the deflection correction trajectory calculated by the deflection correction trajectory calculation unit if the determination unit determines that the first condition and the second condition are satisfied, wherein the actuator is constructed to drive the plurality of joint sections of the robot in accordance with the trajectory output by the trajectory decision unit.

### Claim 2 (depends on 1)

The trajectory generation apparatus according to claim 1, wherein the recalculating unit subtracts the actuator performance from the first constraint value, multiplies the value by a predetermined gain greater than 0, and adds the calculated value to the first constraint value to calculate the second constraint value.

### Claim 3 (depends on 1)

The trajectory generation apparatus according to claim 1, wherein the deflection correction amount calculation unit calculates the respective deflection correction amounts from the target trajectory, an equation of motion of the robot, and stiffness of the robot.

### Claim 4 (depends on 1)

A robot comprising:
an actuator;
a mechanical section operated by the actuator;
a trajectory generation apparatus according to claim 1; and
an actuator control unit that controls the actuator,
wherein the actuator control unit controls the actuator based on the trajectory decided by the trajectory generation apparatus.

### Claim 5

A trajectory generation method for calculating a trajectory along which a robot is driven in which each of a plurality of joint sections of the robot is driven by an actuator with a first constraint value that is set as an upper limit of performance, the trajectory generation method comprising the steps of:
calculating, by a target trajectory calculation unit, a target trajectory from a first point to a second point of the robot by using a target value of the robot and the first constraint value and solving an optimal control problem;
calculating, by a deflection correction amount calculation unit, a deflection correction amount of each of the plurality of joint sections of the robot when the robot is operated based on the target trajectory;
calculating, by a deflection correction trajectory calculation unit, a deflection correction trajectory from the first point to the second point by correcting the target trajectory from the first point to the second point from the respective deflection correction amounts;
calculating, by an actuator performance calculation unit, performance of the actuator necessary to operate the robot based on the deflection correction trajectory;
determining, by a determining unit, whether a first condition that the actuator performance calculated in the calculating the actuator performance step is within a range of the first constraint value and a second condition that a difference between the first constraint value and the actuator performance is within a range of a predetermined value are satisfied;
recalculating, by a recalculating unit, the target trajectory of the robot by replacing the first constraint value in the target trajectory calculation unit with a second constraint value and using the target value of the robot and the second constraint value to solve the optimal control problem if it is determined in the determining step that one of the first condition and the second condition is not satisfied;
outputting to the actuator, by a trajectory decision unit, as a trajectory of the robot, the deflection correction trajectory calculated in the calculating the deflection correction trajectory step if it is determined in the determining step that the first condition and the second condition are satisfied; and
driving, by the actuator, the plurality of joint sections of the robot in accordance with the trajectory of the robot decided by the trajectory decision unit.

### Claim 6 (depends on 5)

The trajectory generation method according to claim 5, wherein in the recalculating, the actuator performance is subtracted from the first constraint value, the value is multiplied by a predetermined gain greater than 0, and the calculated value is added to the first constraint value to calculate the second constraint value.

### Claim 7 (depends on 5)

The trajectory generation method according to claim 5, wherein in the calculating the deflection correction amount, the respective deflection correction amounts are calculated from the target trajectory, an equation of motion of the robot, and stiffness of the robot.