WO2012077335A1 - ロボットの制御装置及び制御方法、ロボット、並びに、制御プログラム - Google Patents
ロボットの制御装置及び制御方法、ロボット、並びに、制御プログラム Download PDFInfo
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- joint torque
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- 238000000034 method Methods 0.000 title claims description 20
- 238000001514 detection method Methods 0.000 claims description 44
- 239000013598 vector Substances 0.000 claims description 39
- 230000001133 acceleration Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 16
- 238000005070 sampling Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
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- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
Definitions
- the present invention relates to a robot control apparatus and method, a robot, and a control program for controlling the operation of a robot that conveys an object.
- the robot arm as an example of the robot calculates the output torque of each joint from the object being transported and its own mass and moment of inertia. Since the torque required for each joint changes between when the object is gripped and when it is not gripped, it is necessary to switch the target torque appropriately according to whether or not the object is gripped. .
- Patent Document 1 In contrast to switching of mass and moment of inertia in a robot that grips an object, Patent Document 1 does not calculate by switching mass and moment of inertia, but a control device that controls the robot by adding a feed-forward term. This is disclosed (see Patent Document 1).
- Patent Document 1 an operation of switching between two states of adding or not adding a feedforward term occurs, but there is a problem that a countermeasure is not taken for a case where the robot moves with the switching operation. there were.
- the object of the present invention is to solve the above-mentioned conventional problems, even when dynamic parameters (for example, the mass of the gripping object and the moment of inertia) are switched when the object is gripped or released from gripping, It is an object to provide a robot control apparatus and method, a robot, and a control program that can keep the robot stationary.
- dynamic parameters for example, the mass of the gripping object and the moment of inertia
- the present invention is configured as follows.
- a control device for a robot having a joint A dynamics parameter acquisition means for acquiring a plurality of dynamics parameters of the robot and an object held by the robot; Target joint torque output means for outputting a target value of the joint torque of the robot as a target joint torque; Dynamics parameter switching means for switching the plurality of dynamics parameters acquired by the dynamics parameter acquisition means; Target joint torque output limiting means for limiting the output of the target joint torque from the target joint torque output means after switching the dynamics parameter by the dynamics parameter switching means;
- a control apparatus for a robot comprising a restriction releasing means for releasing the restriction by the target joint torque output restricting means.
- a control device for the robot A robot arm having the joint; And a hand supported by the tip of the robot arm and capable of gripping the object.
- a method for controlling a robot having a joint A plurality of dynamics parameters of the robot and an object held by the robot are acquired by a dynamics parameter acquisition unit, The target value of the joint torque of the robot is output from the target joint torque output means as the target joint torque, The plurality of dynamics parameters acquired by the dynamics parameter acquisition unit are switched by the dynamics parameter switching unit, The target joint torque output limiting means limits the output of the target joint torque from the target joint torque output means after switching the dynamics parameter by the dynamics parameter switching means, Provided is a robot control method in which the restriction by the target joint torque output restriction means is released by the restriction release means.
- a program for a control device for a robot having a joint A dynamics parameter acquisition means for acquiring a plurality of dynamics parameters of the robot and an object held by the robot; Target joint torque output means for outputting a target value of the joint torque of the robot as a target joint torque; Dynamics parameter switching means for switching the plurality of dynamics parameters acquired by the dynamics parameter acquisition means; Target joint torque output limiting means for limiting the output of the target joint torque from the target joint torque output means after switching the dynamics parameter by the dynamics parameter switching means;
- a control program for a robot control device for causing a computer to function as a restriction releasing means for releasing the restriction by the target joint torque output restricting means.
- the dynamic parameters such as the mass and the moment of inertia including the gripping object when the object is gripped or released from the gripping by the robot.
- the target joint torque output from the target joint torque output means is limited by the target joint torque output restriction means, or the restriction by the target joint torque output restriction means is restricted by the restriction release means.
- the robot can be released by the control of the robot, and the robot can be maintained or kept in a stationary state.
- FIG. 1 is a diagram showing a configuration of a robot system according to the first embodiment of the present invention.
- FIG. 2 is a block diagram showing a part of the robot control apparatus and the robot to be controlled in the first embodiment of the present invention
- FIG. 3 is a diagram showing an example of the operation of the target torque output limiting means in the first embodiment of the present invention.
- FIG. 4 is a block diagram showing a part of a robot control apparatus and a robot to be controlled in the second embodiment of the present invention
- FIG. 5 is a diagram showing an example of the operation of the target torque output limiting means in the second embodiment of the present invention.
- FIG. 6 is a diagram showing an outline of the configuration of the robot in the third embodiment of the present invention.
- FIG. 7 is a diagram showing a configuration of a robot system according to the third embodiment of the present invention.
- FIG. 8 is a block diagram showing a part of the robot control apparatus and the robot to be controlled in the third embodiment of the present invention,
- FIG. 9 is a diagram showing an example of a robot in which the gravity movement axis and the horizontal movement axis are separated in the first to third embodiments of the present invention.
- a control device for a robot having a joint A dynamics parameter acquisition means for acquiring a plurality of dynamics parameters of the robot and an object held by the robot; Target joint torque output means for outputting a target value of the joint torque of the robot as a target joint torque; Dynamics parameter switching means for switching the plurality of dynamics parameters acquired by the dynamics parameter acquisition means; Target joint torque output limiting means for limiting the output of the target joint torque from the target joint torque output means after switching the dynamics parameter by the dynamics parameter switching means;
- a control apparatus for a robot comprising a restriction releasing means for releasing the restriction by the target joint torque output restricting means.
- the target joint torque output limiting means maintains the output of the target joint torque from the target joint torque output means immediately before the switching of the dynamics parameter immediately after switching the dynamics parameter.
- the present invention further comprises a robot movement detecting means for detecting the movement of the robot,
- target angle generation means for generating and outputting a target joint angle vector used for realizing the target operation of the robot,
- the target joint torque output means outputs the target value of the joint torque of the robot as the target joint torque
- the target joint angle vector output from the target angle generation means is used, and the restriction release determination means First, the restriction on the output of the target joint torque from the target joint torque output means is released when it is determined that the target position of the robot has changed based on the target joint angle vector output from the target angle generation means.
- a robot control apparatus according to any one of the aspects 1 to 3 is provided.
- the restriction release determination means further comprises force detection means for detecting a force acting on the robot from the outside, 4.
- the robot control device according to any one of the first to third aspects, wherein the force detection unit releases the restriction on the output of the target joint torque from the target joint torque output unit when detecting a force equal to or greater than a threshold value. I will provide a.
- the limitation of the output by the target joint torque output limiting means is any one of the first to fifth aspects that do not work on a joint that performs a vertical motion among the joints of the robot.
- a robot control device according to an aspect is provided.
- the dynamics parameter switching means includes object gripping detection means for detecting gripping of the object by the robot, The robot control device according to any one of the first to sixth aspects, wherein the dynamics parameter switching unit switches the dynamics parameter after detecting the gripping of the object by the object gripping detection unit.
- the robot control device according to any one of the first to seventh aspects; A robot arm having the joint; And a hand supported by the tip of the robot arm and capable of gripping the object.
- a method for controlling a robot having a joint A plurality of dynamics parameters of the robot and an object held by the robot are acquired by a dynamics parameter acquisition unit, The target value of the joint torque of the robot is output from the target joint torque output means as the target joint torque, The plurality of dynamics parameters acquired by the dynamics parameter acquisition unit are switched by the dynamics parameter switching unit, The target joint torque output limiting means limits the output of the target joint torque from the target joint torque output means after switching the dynamics parameter by the dynamics parameter switching means, Provided is a robot control method in which the restriction by the target joint torque output restriction means is released by the restriction release means.
- a program for a control device for a robot having a joint A dynamics parameter acquisition means for acquiring a plurality of dynamics parameters of the robot and an object held by the robot; Target joint torque output means for outputting a target value of the joint torque of the robot as a target joint torque; Dynamics parameter switching means for switching the plurality of dynamics parameters acquired by the dynamics parameter acquisition means; Target joint torque output limiting means for limiting the output of the target joint torque from the target joint torque output means after switching the dynamics parameter by the dynamics parameter switching means;
- a control program for a robot control device for causing a computer to function as a restriction releasing means for releasing the restriction by the target joint torque output restricting means.
- FIG. 1 shows a configuration of a robot system 100 having a robot 20 according to the first embodiment of the present invention.
- the robot system 100 is configured to include a control device 50 and a robot 20 to be controlled.
- the robot 20 includes a robot mechanism unit 6 including a robot arm 21, a hand 22, and a motor driver 24, motors 23 and 23 H as examples of actuators, and encoders 7 and 7 H. It has a function of gripping and transporting the object 30.
- control device 50 is configured by a general personal computer as an example.
- the control device 50 includes a control program 40 and an input / output IF 41.
- the input / output IF (interface) 41 is configured to include, for example, a D / A board, an A / D board, a counter board, and the like connected to an expansion slot such as a PCI bus of a personal computer.
- the control device 50 includes a motor 23 that independently drives the links 33, 32, and 31 of the robot arm 21 of the robot mechanism unit 6 and the manipulator (hand) 25 via an input / output IF 41 as an example of an input unit. It is connected to a motor driver 24 of 23H and sends a control signal to the motor driver 24.
- the motor driver 24 drives and controls each of the motors 23 as an example of a rotation driving device or an actuator for driving the joints independently based on the control signal.
- the motor driver 24 and the motor 23 function as an example of a joint driving unit.
- the encoder 7 detects a rotation phase angle (that is, a joint angle) of the rotation shaft of the motor 23.
- the motor driver 24 drives and controls a motor 23H as an example of a rotary driving device for hand driving based on the control signal.
- the motor driver 24 and the motor 23H function as an example of a drive unit for hand driving.
- the encoder 7H detects a rotation phase angle (that is, a joint angle) of the rotation shaft of the motor 23H.
- the control device 50 controls the operation of the robot arm 51, and takes each joint angle information output from the encoder 7 of each joint of the robot arm 21 into the control device 50 through the counter board of the input / output IF 41.
- the control device 50 calculates a control command value for the rotational operation of each joint based on the acquired joint angle information.
- the control device 50 gives the control command values to the motor driver 24 for driving and controlling each joint of the robot arm 21 through the D / A board of the input / output IF 41, and drives the motor 23 of each joint of the robot arm 21. To do.
- the robot arm 21 is a multi-link manipulator having three degrees of freedom as an example, and a hand 22 can be attached to the tip.
- the robot arm 21 includes a third link 31 to which the hand 22 is attached at the tip, a second link 32 connected to the third link 31 via the third joint 35C and having the third link 31 at the tip,
- the first link 33 is connected to the second link 32 via the two joints 35B and the distal end of the second link 32 is rotatably connected to the proximal end of the second link 32, and is connected to the base 34 via the first joint 35A.
- the base portion 34 of the first link 33 is rotatably connected and supported, and is fixed to the floor 90.
- the robot arm 21 includes a first joint axis 35-1 that rotates forward and backward in an xy plane including an x axis and a y axis that are orthogonal to each other, and a second joint axis 35-2 that also rotates forward and backward in the xy plane. Similarly, a third joint shaft 35-3 that rotates forward and backward in the xy plane is provided.
- the first joint axis 35-1, the second joint axis 35-2, and the third joint axis 35-3 are rotation axes of the first joint 35A, the second joint 35B, and the third joint 35C of the robot arm 21, respectively. is there.
- the robot arm 21 can rotate independently about a total of three axes, ie, the first joint axis 35-1 to the third joint axis 35-3, thereby constituting the multi-link manipulator having three degrees of freedom. ing.
- Each joint 35A, 35B, 35C constituting the rotating portion of each shaft is composed of a pair of members (for example, a rotating side member and a supporting side member that supports the rotating side member). ),
- the motor 23 and the encoder 7 are provided.
- the motor 23 and the encoder 7 are disposed in the joints 35A, 35B, and 35C of the robot arm 21, and the rotation shaft of the motor 23 provided in one member constituting each of the joints 35A, 35B, and 35C.
- it is connected to the other member of each of the joints 35A, 35B, and 35C to rotate the rotating shaft forward and backward, thereby enabling the other member to rotate around each shaft with respect to the one member.
- the base portion 34 When the first link 33 is rotated forward and backward about the vertical axis with respect to the floor 90, the base portion 34 includes a fixed portion fixed to the floor 90 and a movable portion connected to the first link 33.
- the motor 23 and the encoder 7 may be arranged on the fixed part and the movable part in the same manner as other joints, and drive control may be performed via the motor driver 24.
- a hand driving motor 23H (actually disposed inside the hand 22) as an example of a hand driving device that is driven and controlled by the motor driver 24, and rotation of the rotating shaft of the hand driving motor 23H.
- the hand 22 further includes an encoder 7H (actually disposed inside the hand 22) that detects a phase angle (that is, a joint angle) as rotation angle information.
- the rotation angle information of the encoder 7H is input to the hand control means 26 (an example of the object gripping detection means) of the control device 50 via the input / output IF 41.
- the hand control means 26 of the control device 50 drives and controls the rotation of the hand drive motor 23H via the motor driver 24 based on the rotation angle information detected by the encoder 7H, and the rotation shaft of the hand drive motor 23H.
- the hand 22 can be opened and closed by rotating it forward and reverse so that the object 30 can be gripped or released.
- FIG. 2 is a block diagram showing a part of the control device 50 of the robot 20 and the robot 20 to be controlled according to the first embodiment of the present invention.
- the control device 50 is an example of the target angle generation means 1, the target angular acceleration calculation means 2, the target joint torque output means 3, the target joint torque output restriction means 4, the restriction release means 5, and the dynamics parameter switching means.
- the target angle generation unit 1 outputs a target joint angle vector q d for realizing the target operation of the robot 20 to the output error calculation unit 9, the target acceleration calculation unit 2, and the restriction release unit 5, respectively.
- q dt [q dt1 , q dt2 , q dt3 ] T (q d0 , q d1 , q d2 ,...) is recorded.
- such a target angle vector is recorded as an operation control program for the robot 20 (a program for the robot control device).
- the generated target joint angle vector q d respectively output to the output error computing section 9 and the target acceleration calculation means 2 and the restriction releasing means 5.
- the angle error vector q e is output to the corrected target angular acceleration calculation unit 10.
- Target angular acceleration calculation means 2 the target joint angle vector q d to the target angle generating means 1 is outputted is inputted, the target angular acceleration
- the corrected target angular acceleration calculation unit 10 is an output of the target angular acceleration calculation means 2.
- the parameter acquisition unit 14 acquires the dynamic parameters of the robot 20 and outputs the acquired dynamics parameters to the parameter switching unit 8.
- the dynamics parameters include the mass of each link of the robot arm 21 or the grasped object 30, the position of the center of gravity, or the inertia matrix. More specific examples of the dynamics parameters include the mass and moment of inertia of the gripping object 30 when the object 30 is gripped by the hand 22 or when the object 30 is released from gripping by the hand 22.
- the necessary dynamics parameters are recorded in advance in a memory as a specific example of the parameter acquisition unit 14, or are placed outside the robot system 100 as another specific example of the parameter acquisition unit 14. It can be configured by an acquisition unit that acquires dynamics parameters by communication from a database or the like.
- the parameter switching unit 8 switches the dynamic parameters of the robot 20 which is information necessary for the target joint torque output unit 3 to generate the target joint torque, and outputs it to the target joint torque output unit 3.
- a parameter switching signal indicating that the dynamics parameter has been switched by the parameter switching unit 8 is output from the parameter switching unit 8 to the target joint torque output limiting unit 4.
- the dynamics parameter switched by the parameter switching unit 8 when the hand 22 grips the transported object 30, the dynamics parameter in the state where there is no object 30 and only the robot body (robot arm 21 and hand 22), 30 dynamic parameters (in a state where the object 30 and the robot main body (the robot arm 21 and the hand 22) are combined) can be set.
- the timing at which the parameter switching means 8 switches the dynamics parameter when the hand 22 performs an operation of releasing the transported object 30 from the hand 22 by gripping and opening the transported object 30, the state including the object 30 is included.
- the hand 22 when the hand 22 performs an operation of gripping and transporting the transported object 30, the dynamics including the object 30 is obtained.
- An example of switching from a parameter to a dynamics parameter in which there is no object 30 and only the robot body is given.
- the switching of the dynamics parameter is performed by the parameter switching unit 8 by determining the gripping state or gripping state of the object based on the opening / closing signal of the hand 22 which is an output of the hand control unit 26 described later.
- the hand control means 26 receives the output q of the encoder 7H, and outputs an opening / closing signal of the hand 22 to the parameter switching means 8 and the robot mechanism section 6.
- the grip position and the grip release position are determined in advance, and the hand control means 26 stores the grip positions.
- an opening / closing signal of the hand 22 is output.
- the hand gripping position and the grip opening position are determined in advance.
- the present invention is not limited to this.
- the hand 22 may be opened and closed when a person presses a button.
- the target joint torque output means 3 is a corrected target angular acceleration output from the corrected target angular acceleration calculation unit 10.
- the target joint torque ⁇ d is calculated, and the target joint torque ⁇ d obtained by the calculation is output.
- a dynamics parameter that is the output of the parameter switching means 8 the target joint torque ⁇ d is calculated, and the target joint torque ⁇ d obtained by the calculation is output.
- I a coefficient matrix composed of the dynamic parameters of the object 30 and the robot 20,
- the target joint torque ⁇ d is calculated using an equation including the dynamics parameter of the object 30. For this reason, the target joint torque ⁇ d changes stepwise by switching the parameters. As a result, since the target joint torque ⁇ d changes, the motor driver 24 described later changes the output torque of the joint driving motor 23, and the robot 20 does not change the target joint angle vector q d . It may move.
- the target joint angle vector q d is the output of the target angle generation unit 1, and outputs a limit release signal to the target joint torque output limiting means 4.
- the target joint angle vector q d calculates the target joint angular velocity than the absolute value of the calculated target joint angular velocity, when the advance of the threshold or more which is determined, unrestricting The signal is output to the target joint torque output limiting means 4. Further, the restriction release means 5 does not output a restriction release signal to the target joint torque output restriction means 4 when the calculated absolute value of the target joint angular velocity is smaller than the threshold value.
- the target joint angular velocity for each joint 35A, 35B, 35C can be approximated by the following equation.
- each element of this vector is set as the target joint angular velocity.
- the threshold is set to 5 [deg / sec], for example.
- an appropriate value is set according to the size or accuracy of the robot 20, safety due to its relation to the surrounding environment, and the like.
- the restriction release means 5 outputs the restriction release signal when the absolute value of the target joint angular velocity is equal to or greater than the threshold value because the object 30 to be gripped by the hand 22 is considered to be stationary. It is considered that the position of the robot arm 21 is stationary before and after gripping with the hand 22 in order to grip the arm 30 safely.
- the target joint angle vector q d is the time before and after the gripping of the hand 22, to give the target still considered to be below a certain threshold. Therefore, grip the object 30 in the hand 22, again when the target joint angle vector q d robot arm 21 is about to start the operation began change, the target joint torque output restriction means limit release signal from the restriction removal unit 5 4 has the purpose of outputting.
- the target joint torque output limiting means 4 includes a target joint torque ⁇ d that is the output of the target joint torque output means 3, a restriction release signal that is the output of the restriction release means 5, and a parameter switching signal that is the output of the parameter switching means 8.
- the corrected target joint torque that is input and becomes the control target of each joint 35A, 35B, 35C
- the target joint torque output limiting means 4 receives the parameter switching signal until the next limit canceling signal is input when the parameter switching signal is input in a state where the limit canceling signal is not input.
- the value of the target joint torque ⁇ d immediately before is maintained, and the value of the target joint torque ⁇ d is changed to the corrected target joint torque.
- the target joint torque output limiting means 4 uses the current target joint torque ⁇ d as it is as the corrected target joint torque.
- FIG. 3 is a diagram showing an example of the operation of the target joint torque output limiting means 4.
- the target joint angle, the target joint torque, and the corrected target joint torque value of the first joint shaft 35-1 are shown as examples, but the same applies to the other joint shafts 35-2 and 35-3.
- the hand 22 does not hold the object 30 between (A) to (D) on the horizontal axis (time axis) in FIG. Of these, the robot arm 21 is operating between (A) and (B) and between (C) and (D), and the robot arm 21 is stationary between (B) and (C). ing.
- the robot arm 21 is stationary to hold the object 30 with the hand 22.
- the object 30 is gripped by the hand 22 between (D) and (E).
- the dynamics parameter is switched, and at the time (F), the robot arm 21 changes from a stationary state to an operation.
- a restriction release signal is inputted from the restriction release means 5 to the target joint torque output restriction means 4 between the points (A) to (B) and (C) to (D) in FIG. Yes.
- the target joint torque output limiting means 4 outputs the target joint torque ⁇ d that is the output of the target joint torque output means 3 as it is as the corrected target joint torque.
- the restriction release signal is not input from the restriction release means 5 to the target joint torque output restriction means 4.
- the switching signal is also not input from the parameter switching means 8 to the target joint torque output limiting means 4. Therefore, the target joint torque output limiting means 4, a target joint torque tau d, which is the output of the target joint torque output means 3 directly outputs the corrected target joint torque.
- a dynamics parameter switching signal is input from the parameter switching unit 8 to the target joint torque output limiting unit 4.
- the switched dynamics parameter is input from the parameter switching unit 8 to the target joint torque output unit 3, and the target joint torque ⁇ d is calculated by the target joint torque output unit 3 based on the input dynamics parameter.
- the target joint torque ⁇ d changes at the time point (E).
- the dynamics parameter switching signal is inputted from the parameter switching means 8, and at the same time, the restriction releasing signal is not inputted from the restriction releasing means 5.
- the target joint torque value ⁇ d immediately before the switching signal is input is maintained and output as the corrected target joint torque.
- the target joint torque output limiting unit 4 continues to output the same value as the corrected target joint torque value until the limit cancellation signal is input from the limit cancellation unit 5 to the target joint torque output limiting unit 4. . Since the restriction release signal is input from the restriction release means 5 to the target joint torque output restriction means 4 at the time (F), the target joint torque output restriction means 4 again at the target joint torque output restriction means 4 after the time (F). value
- the change amount of the target joint angle vector q d of the robot arm 21 is for less than the threshold value does not change, it prevents the robot 20 only by switching the dynamics parameters will operate, further, the target joint angle vector q When d begins to change, the corrected target joint torque value is promptly
- each joint angle of the robot arm 21 of the robot 20 changes, and the result detected from the encoder 7 that detects each joint angle q is output via the input / output IF 41 as an output error calculation unit. 9 is input.
- the control device 50 includes the parameter switching unit 8, the limit release unit 5, and the target joint torque output limiting unit 4, and includes the joints 35 ⁇ / b> A, 35 ⁇ / b> B, and 35 ⁇ / b> C of the robot 20.
- a robot 20 that performs torque control of the motor 23 as an example of control of an actuator that rotates forward and backward is configured.
- the target joint torque limiting means 4 limits the output of the target joint torque from the target joint torque output means 3 after switching the dynamics parameter by the parameter switching means 8. As a result, it is possible to prevent the robot 20 from operating due to the switching of the dynamics parameter even though the stationary target value is given to the robot 20. Thereby, for example, even when the dynamics parameter is largely changed by gripping the object 30, the robot 20 can be kept stationary, and the operation of the robot 20 can be controlled safely.
- the gripping object 30 is gripped when the robot 30 grips the object 30 or releases the grip. Even if dynamic parameters such as mass and moment of inertia including switching occur, the output of the target joint torque from the target joint torque output means 3 is limited by the target joint torque output limiting means 4, or The restriction by the target joint torque output restriction means 4 can be released by the restriction release means 5, and the robot 20 can be controlled so that the robot 20 can be kept stationary.
- FIG. 4 is a block diagram showing a part of the control device 50 of the robot 20 according to the second embodiment of the present invention and the robot 20 to be controlled.
- the control device 50 includes a target angle generation means 1, a target angular acceleration calculation means 2, a target joint torque output means 3, a target joint torque output restriction means 4, a restriction release means 5, a parameter switching means 8, and an output.
- An error calculation unit 9, a corrected target angular acceleration calculation unit 10, a parameter acquisition unit 14, and a robot movement detection unit 11 are provided.
- the robot 20 is configured to include the robot mechanism unit 6, the motors 23 and 23H, and the encoders 7 and 7H, as in the first embodiment.
- measurement information from the robot 20 measured by the encoders 7 and 7H is input to the control device 50.
- the results detected from the encoder 7 that detects the joint angle q are input to the output error calculator 9 and the robot movement detector 11 via the input / output IF 41, respectively.
- the robot movement detection means 11 receives the joint angle q, which is the output of the encoder 7, and outputs a movement detection signal from the robot movement detection means 11 to the target joint torque output restriction means 4.
- the movement detection signal is output from the robot movement detection unit 11 to the target joint torque output limiting unit 4 when the robot movement detection unit 11 determines that the robot 20 is moving. For example, when the absolute value of the differential value of the joint angle q is equal to or greater than a threshold value, the robot movement detecting unit 11 can determine that the robot is moving.
- the target joint torque output limiting means 4 includes a target joint torque ⁇ d that is the output of the target joint torque output means 3, a restriction release signal that is the output of the restriction release means 5, and a parameter switching signal that is the output of the parameter switching means 8.
- the movement detection signal which is the output of the robot movement detection means 11 is input, and the corrected target joint torque which becomes the control target of each joint 35A, 35B, 35C
- the target joint torque output restriction means 4 maintains the instantaneous corrected target joint torque value and then restricts it. Until the release signal is input, the corrected target joint torque
- the target joint torque output limiting means 4 keeps the value of the current target joint torque ⁇ d as it is, and the corrected target joint torque
- FIG. 5 is a diagram showing an example of the operation of the target joint torque output limiting means 4.
- the target joint angle, the target joint torque, and the corrected target joint torque value of the first joint shaft 35-1 are shown as examples, but the same applies to the other joint shafts 35-2 and 35-3.
- the robot arm 21 is stationary to hold the object 30 with the hand 22.
- the object 30 is gripped by the hand 22 between (B) and (C).
- the dynamics parameter is switched at the time point (C), and the movement detection signal starts to be input from the robot movement detection means 11 to the target joint torque output restriction means 4 at the time point (D).
- the robot arm 21 changes from a stationary state to an operation.
- the target joint torque output limiting means 4 is the target joint torque that is the output of the target joint torque output means 3 between the time point (A) to the time point (B) and the time point (B) to the time point (C) in FIG. ⁇ d is output as it is as the corrected target joint torque.
- a dynamics parameter switching signal is input from the parameter switching unit 8 to the target joint torque output limiting unit 4.
- the dynamic parameter after switching is input to the target joint torque output means 3, and the target joint torque ⁇ d is calculated by the target joint torque output means 3 based thereon. For this reason, the target joint torque ⁇ d changes at the time point (C).
- the dynamics parameter switching signal is inputted from the parameter switching means 8, and at the same time, the restriction releasing signal is not inputted from the restriction releasing means 5, so that the time (C) to the time (D)
- the target joint torque output limiting means 4 changes between the target joint torque value ⁇ d immediately before the dynamics parameter switching signal is input and the current target joint torque value at the time of (C). And output as the corrected target joint torque.
- the target joint torque output limiting means 4 stops changing the corrected target joint torque value that is an output. As a result, since the actual operation of the robot 20 is stopped when the corrected target joint torque value does not change and becomes a constant value, the output of the movement detection signal from the robot movement detection unit 11 stops.
- the target joint torque output limiting means 4 maintains and outputs the corrected target joint torque value at the time (D).
- the same value as the target joint torque ⁇ d inputted from the target joint torque output means 3 to the target joint torque output restriction means 4 is outputted.
- the target joint torque output from the target joint torque output means 3 after the target joint torque output restriction means 4 switches the dynamics parameter by the parameter switching means 8.
- the output of is restricted.
- a robot movement detection unit 11 is provided, and the robot movement detection unit 11 detects whether or not the robot 20 is moving. Since the target joint torque output limiting means 4 outputs the corrected target joint torque using the movement detection signal that is the output of the robot movement detection means 11, the dynamics parameters can be set without limiting the target joint torque more than necessary.
- the robot 20 can be kept stationary even when greatly fluctuating, and the operation of the robot 20 can be controlled safely.
- FIG. 6 is a diagram showing an outline of the configuration of the robot 20 according to the third embodiment of the present invention.
- a person 91 grasps an object 30 with a hand 22 by grasping an L-shaped handle 36 having one end fixed to the third link 31 and applying a force in a direction in which the object 30 is to be carried.
- the robot 20 moves and the object 30 can be transported by the robot 20.
- the robot 20 includes a handle 36 for operation by the person 91 and force detection means 25 (for example, a force sensor) for detecting the force applied by the person 91 to the handle 36. That is to make up.
- force detection means 25 for example, a force sensor
- the description will focus on differences from the configuration and operation of the first embodiment, and the description of the same configuration and operation as in the first embodiment will be omitted.
- FIG. 7 is a diagram showing a configuration of the robot system 100.
- the robot system 100 further includes the handle 36 and the force detection means 25.
- the force of the person 91 detected by the force detection means 25 is input to the control device 50 (the restriction releasing means 5 and the force control means 12 of the control device 50) via the input / output IF 41.
- FIG. 8 is a block diagram showing a control device 50 of the robot 20 and a part of the robot 20 to be controlled.
- the control device 50 is configured to newly include a force control means 12 and a target angle addition unit 13.
- the force detection means 25 detects or estimates the force generated between the handle 36 and the robot 20 and outputs the information F.
- the force detection means 25 is a three-axis force sensor disposed between the handle 36 and the robot 20.
- the force information F detected by the force sensor is output to the limit release means 5 and the force control means 12, respectively.
- Force control means 12 based on the force information that is an output of the force detector 25, and outputs the corrected target angle vector [Delta] q d to the target angle summing unit 13.
- Force control means 12 the force control technique such as impedance control method or compliance control method, and calculates a corrected target angle vector [Delta] q d.
- the target angle generation unit 1 outputs a target joint angle vector q d for realizing the target operation of the robot 20 to the target angle addition unit 13.
- the angle error vector q e is output to the corrected target angular acceleration calculation unit 10.
- the restriction release means 5 receives the force information F, which is the output of the force detection means 25, and outputs a restriction release signal to the target joint torque output restriction means 4.
- the restriction release means 5 outputs a restriction release signal from the restriction release means 5 to the target joint torque output restriction means 4 when the force information F is equal to or greater than a predetermined threshold value, for example. It is also assumed that when the force information F is smaller than the threshold value, the restriction release signal is not output from the restriction release means 5 to the target joint torque output restriction means 4.
- the restriction release signal is output from the restriction release means 5 to the target joint torque output restriction means 4, and the person 91 is applied to the handle 36.
- the restriction release signal is not output from the restriction release means 5 to the target joint torque output restriction means 4.
- the robot 20 in the third embodiment operates when the person 91 is applying force to the robot 20, and the robot 20 is stationary when the person 91 is not applying force to the robot 20. can do. That is, since the robot 20 only needs to be stationary when the person 91 is not applying force, the robot 20 does not output the restriction release signal from the restriction release means 5 to the target joint torque output restriction means 4.
- the target joint torque output limiting means 4 operates in the same manner as in the first embodiment.
- the force control unit 12 is arranged for the robot 20 including the force detection unit 25, and the object 30 according to the force of the person 91. Can move the object 30 and move the object 30. Furthermore, whether or not the person 91 is applying force can be detected by the force detection means 25, and the restriction release means 5 outputs a restriction release signal using the force information of the person 91. Since the robot 20 starts moving only when the person 91 tries to move, the robot 20 can be controlled safely.
- the robot 20 driven by the motor 23 has been described as an example of the actuator of the robot 20, but the present invention is not limited to the motor 23. In the case of a hydraulic drive actuator, the same effect is exhibited.
- the present invention is not limited to this, and the number of axes is not limited to this. Moreover, it is not necessarily limited to apply to all the axes similarly, It is also possible to apply only to the limited axes.
- the direction of gravity applied to the object 30 to be grasped it is necessary to prevent the robot arm 21 that grasps the object 30 from falling by applying dynamic parameters including the object from the moment of grasping.
- the direction does not move at the moment of gripping, but it is desired to move only after changing the target position after gripping.
- the contents of the first to third embodiments are not applied to the axis moving in the gravitational direction, and the target operation is possible by applying only to the axis moving in the horizontal direction. It becomes.
- FIG. 9 is an example of a robot 20A called a SCARA type in which the axis of movement in the gravitational direction and the axis of movement in the horizontal direction are separated, but by applying only to the axis of movement in the horizontal direction, the intended operation can be achieved. It becomes possible.
- a control apparatus and control method for a robot, a robot, and a control program according to the present invention include a control apparatus and a control method for performing position control such as trajectory control of a hand position of a robot such as a robot arm that holds an object, and a control program Useful as.
- the present invention is not limited to a robot arm, and can be applied to a control device and control method for a device having a mechanism for gripping an object in a production facility or the like, a robot, and a control program.
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Abstract
Description
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータを取得するダイナミクスパラメータ取得手段と、
上記ロボットの関節トルクの目標値を目標関節トルクとして出力する目標関節トルク出力手段と、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータを切り替えるダイナミクスパラメータ切替手段と、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を制限する目標関節トルク出力制限手段と、
上記目標関節トルク出力制限手段による制限を解除する制限解除手段とを備えるロボットの制御装置を提供する。
上記関節を有するロボットアームと、
上記ロボットアームの先端に支持されて上記物体を把持可能なハンドと、を備えるロボットを提供する。
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータをダイナミクスパラメータ取得手段で取得し、
上記ロボットの関節トルクの目標値を目標関節トルクとして目標関節トルク出力手段から出力し、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータをダイナミクスパラメータ切替手段で切り替え、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を目標関節トルク出力制限手段で制限し、
上記目標関節トルク出力制限手段による制限を制限解除手段で解除するロボットの制御方法を提供する。
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータを取得するダイナミクスパラメータ取得手段と、
上記ロボットの関節トルクの目標値を目標関節トルクとして出力する目標関節トルク出力手段と、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータを切り替えるダイナミクスパラメータ切替手段と、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を制限する目標関節トルク出力制限手段と、
上記目標関節トルク出力制限手段による制限を解除する制限解除手段としてコンピュータを機能させるための、ロボットの制御装置の制御プログラムを提供する。
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータを取得するダイナミクスパラメータ取得手段と、
上記ロボットの関節トルクの目標値を目標関節トルクとして出力する目標関節トルク出力手段と、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータを切り替えるダイナミクスパラメータ切替手段と、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を制限する目標関節トルク出力制限手段と、
上記目標関節トルク出力制限手段による制限を解除する制限解除手段とを備えるロボットの制御装置を提供する。
上記目標関節トルク出力制限手段は、上記ロボット移動検知手段が上記ロボットの移動を検知した瞬間の上記目標関節トルク出力手段からの目標関節トルクの出力を維持する第1の態様に記載のロボットの制御装置を提供する。
上記目標関節トルク出力手段において上記ロボットの関節トルクの目標値を目標関節トルクとして出力するときに、上記目標角度生成手段から出力された上記目標関節角度ベクトルを使用するとともに、上記制限解除判断手段において、上記目標角度生成手段から出力された上記目標関節角度ベクトルに基づき上記ロボットの目標位置が変化したと判断するとき上記目標関節トルク出力手段からの上記目標関節トルクの出力の制限を解除する第1~3のいずれか1つの態様に記載のロボットの制御装置を提供する。
上記力検出手段が、閾値以上の力を検出するとき上記目標関節トルク出力手段からの上記目標関節トルクの出力の制限を解除する第1~3のいずれか1つの態様に記載のロボットの制御装置を提供する。
上記物体把持検出手段により上記物体の把持を検出した後に上記ダイナミクスパラメータ切替手段による上記ダイナミクスパラメータの切り替えを行う第1~6のいずれか1つの態様に記載のロボットの制御装置を提供する。
上記関節を有するロボットアームと、
上記ロボットアームの先端に支持されて上記物体を把持可能なハンドと、を備えるロボットを提供する。
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータをダイナミクスパラメータ取得手段で取得し、
上記ロボットの関節トルクの目標値を目標関節トルクとして目標関節トルク出力手段から出力し、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータをダイナミクスパラメータ切替手段で切り替え、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を目標関節トルク出力制限手段で制限し、
上記目標関節トルク出力制限手段による制限を制限解除手段で解除するロボットの制御方法を提供する。
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータを取得するダイナミクスパラメータ取得手段と、
上記ロボットの関節トルクの目標値を目標関節トルクとして出力する目標関節トルク出力手段と、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータを切り替えるダイナミクスパラメータ切替手段と、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を制限する目標関節トルク出力制限手段と、
上記目標関節トルク出力制限手段による制限を解除する制限解除手段としてコンピュータを機能させるための、ロボットの制御装置の制御プログラムを提供する。
図1は、本発明の第1実施形態にかかるロボット20を有するロボットシステム100の構成を示す。ロボットシステム100は、制御装置50と、制御対象であるロボット20とを備えるように構成されている。さらに、ロボット20は、ロボットアーム21とハンド22とモータドライバ24とで構成するロボット機構部6と、アクチュエータの一例としてのモータ23,23Hと、エンコーダ7,7Hとを備えていて、ハンド22で物体30を把持して搬送する機能を持つ。
図4は、本発明の第2実施形態にかかるロボット20の制御装置50及び制御対象であるロボット20の一部を示すブロック図である。制御装置50は、目標角度生成手段1と、目標角加速度計算手段2と、目標関節トルク出力手段3と、目標関節トルク出力制限手段4と、制限解除手段5と、パラメータ切替手段8と、出力誤差計算部9と、修正目標角加速度計算部10と、パラメータ取得手段14と、ロボット移動検知手段11とを備える。また、ロボット20は、第1実施形態と同様に、ロボット機構部6と、モータ23,23Hと、エンコーダ7,7Hとを備えるように構成している。また、制御装置50に対しては、エンコーダ7,7Hで計測されたロボット20からの計測情報が入力される。
図6は、本発明の第3実施形態にかかるロボット20の構成の概要を示す図である。このロボット20は、人91が、第3リンク31に一端が固定された例えばL字状のハンドル36を把持し、物体30を運びたい方向に力をかけることで、物体30をハンド22で把持したロボット20が移動し、物体30をロボット20で運搬することが出来る。先の実施形態と異なる点は、ロボット20が、人91が操作するためのハンドル36と、人91がハンドル36にかけている力を検出するための力検出手段25(たとえば力センサー)とを備えて構成していることである。
Claims (10)
- 関節を有するロボットの制御装置であって、
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータを取得するダイナミクスパラメータ取得手段と、
上記ロボットの関節トルクの目標値を目標関節トルクとして出力する目標関節トルク出力手段と、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータを切り替えるダイナミクスパラメータ切替手段と、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を制限する目標関節トルク出力制限手段と、
上記目標関節トルク出力制限手段による制限を解除する制限解除手段とを備えるロボットの制御装置。 - 上記目標関節トルク出力制限手段は、上記ダイナミクスパラメータを切り替えた直後は、上記ダイナミクスパラメータの切り替え直前の上記目標関節トルク出力手段からの目標関節トルクの出力を維持する請求項1に記載のロボットの制御装置。
- さらに、上記ロボットの移動を検知するロボット移動検知手段を備え、
上記目標関節トルク出力制限手段は、上記ロボット移動検知手段が上記ロボットの移動を検知した瞬間の上記目標関節トルク出力手段からの目標関節トルクの出力を維持する請求項1に記載のロボットの制御装置。 - 目標とする上記ロボットの動作を実現するために使用する目標関節角度ベクトルを生成して出力する目標角度生成手段をさらに備え、
上記目標関節トルク出力手段において上記ロボットの関節トルクの目標値を目標関節トルクとして出力するときに、上記目標角度生成手段から出力された上記目標関節角度ベクトルを使用するとともに、上記制限解除判断手段において、上記目標角度生成手段から出力された上記目標関節角度ベクトルに基づき上記ロボットの目標位置が変化したと判断するとき上記目標関節トルク出力手段からの上記目標関節トルクの出力の制限を解除する請求項1~3のいずれか1つに記載のロボットの制御装置。 - さらに、上記制限解除判断手段は、外部から上記ロボットに働く力を検出する力検出手段を備え、
上記力検出手段が、閾値以上の力を検出するとき上記目標関節トルク出力手段からの上記目標関節トルクの出力の制限を解除する請求項1~3のいずれか1つに記載のロボットの制御装置。 - 上記目標関節トルク出力制限手段による上記出力の制限は、上記ロボットの関節のうち鉛直方向の運動を行う関節には働かない請求項1~3のいずれか1つに記載のロボットの制御装置。
- 上記ダイナミクスパラメータ切替手段は、上記ロボットによる上記物体の把持を検出する物体把持検出手段を備え、
上記物体把持検出手段により上記物体の把持を検出した後に上記ダイナミクスパラメータ切替手段による上記ダイナミクスパラメータの切り替えを行う請求項1~3のいずれか1つに記載のロボットの制御装置。 - 請求項1~3のいずれか1つに記載のロボットの制御装置と、
上記関節を有するロボットアームと、
上記ロボットアームの先端に支持されて上記物体を把持可能なハンドと、を備えるロボット。 - 関節を有するロボットの制御方法であって、
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータをダイナミクスパラメータ取得手段で取得し、
上記ロボットの関節トルクの目標値を目標関節トルクとして目標関節トルク出力手段から出力し、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータをダイナミクスパラメータ切替手段で切り替え、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を目標関節トルク出力制限手段で制限し、
上記目標関節トルク出力制限手段による制限を制限解除手段で解除するロボットの制御方法。 - 関節を有するロボットの制御装置のプログラムであって、
上記ロボットと上記ロボットが把持している物体の複数のダイナミクスパラメータを取得するダイナミクスパラメータ取得手段と、
上記ロボットの関節トルクの目標値を目標関節トルクとして出力する目標関節トルク出力手段と、
上記ダイナミクスパラメータ取得手段で取得された上記複数のダイナミクスパラメータを切り替えるダイナミクスパラメータ切替手段と、
上記ダイナミクスパラメータ切替手段によって上記ダイナミクスパラメータを切り替えた後に上記目標関節トルク出力手段からの上記目標関節トルクの出力を制限する目標関節トルク出力制限手段と、
上記目標関節トルク出力制限手段による制限を解除する制限解除手段としてコンピュータを機能させるための、ロボットの制御装置の制御プログラム。
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US (1) | US8509950B2 (ja) |
JP (1) | JP5154712B2 (ja) |
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Cited By (5)
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JP2014034101A (ja) * | 2012-08-10 | 2014-02-24 | Toshiba Corp | ロボット制御装置 |
JP2015030076A (ja) * | 2013-08-05 | 2015-02-16 | 株式会社東芝 | ロボット制御装置 |
DE102015005908A1 (de) | 2014-05-14 | 2015-11-19 | Fanuc Corporation | System zum Transportieren eines Werkstücks mit einer Funktion zur Überwachung einer externen Kraft |
JP2018012193A (ja) * | 2017-10-27 | 2018-01-25 | ファナック株式会社 | 外力監視機能を有するワーク搬送方法システム |
US10644619B2 (en) | 2016-03-29 | 2020-05-05 | Panasonic Intellectual Property Management Co., Ltd. | Motor control device |
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US20140316571A1 (en) * | 2013-04-22 | 2014-10-23 | Quanta Storage Inc. | Articulation module for a robot and control method for the same |
JP5820013B1 (ja) | 2014-04-30 | 2015-11-24 | ファナック株式会社 | ワークを把持して搬送するロボットの安全監視装置 |
CN104260095B (zh) * | 2014-09-23 | 2016-04-27 | 上海工程技术大学 | 一种医疗机械臂的控制方法及装置 |
JP6034900B2 (ja) * | 2015-03-06 | 2016-11-30 | ファナック株式会社 | 動作プログラムの再開を判断するロボット制御装置 |
JP6603480B2 (ja) * | 2015-05-20 | 2019-11-06 | 川崎重工業株式会社 | 電気機器取付装置および方法 |
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JP6895242B2 (ja) * | 2016-11-25 | 2021-06-30 | 株式会社東芝 | ロボット制御装置、ロボット制御方法及びピッキング装置 |
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TWI642523B (zh) * | 2017-09-21 | 2018-12-01 | 上銀科技股份有限公司 | 用於機械臂之負載估測重力補償的方法及其負載估測重力補償系統 |
CN110216679B (zh) * | 2019-06-28 | 2020-07-10 | 北京猎户星空科技有限公司 | 一种机械臂解锁方法及装置 |
CN110561422B (zh) * | 2019-08-14 | 2021-04-20 | 深圳市优必选科技股份有限公司 | 一种校准机器人各关节的方法、装置及机器人 |
JP7326139B2 (ja) * | 2019-12-09 | 2023-08-15 | 株式会社東芝 | 作業支援装置、作業支援方法、プログラム、および作業支援システム |
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- 2011-12-06 WO PCT/JP2011/006817 patent/WO2012077335A1/ja active Application Filing
- 2011-12-06 JP JP2012520858A patent/JP5154712B2/ja active Active
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JP2009113147A (ja) * | 2007-11-06 | 2009-05-28 | Toyota Motor Corp | ロボット及びロボット制御方法 |
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JP2014034101A (ja) * | 2012-08-10 | 2014-02-24 | Toshiba Corp | ロボット制御装置 |
US9242374B2 (en) | 2012-08-10 | 2016-01-26 | Kabushiki Kaisha Toshiba | Robotic control apparatus |
JP2015030076A (ja) * | 2013-08-05 | 2015-02-16 | 株式会社東芝 | ロボット制御装置 |
DE102015005908A1 (de) | 2014-05-14 | 2015-11-19 | Fanuc Corporation | System zum Transportieren eines Werkstücks mit einer Funktion zur Überwachung einer externen Kraft |
JP2015217451A (ja) * | 2014-05-14 | 2015-12-07 | ファナック株式会社 | 外力監視機能を有するワーク搬送方法システム |
DE102015005908B4 (de) | 2014-05-14 | 2019-03-14 | Fanuc Corporation | System zum Transportieren eines Werkstücks mit einer Funktion zur Überwachung einer externen Kraft |
US10471603B2 (en) | 2014-05-14 | 2019-11-12 | Fanuc Corporation | System for conveying workpiece having external force monitoring function |
US10644619B2 (en) | 2016-03-29 | 2020-05-05 | Panasonic Intellectual Property Management Co., Ltd. | Motor control device |
JP2018012193A (ja) * | 2017-10-27 | 2018-01-25 | ファナック株式会社 | 外力監視機能を有するワーク搬送方法システム |
Also Published As
Publication number | Publication date |
---|---|
CN103025492B (zh) | 2015-07-22 |
US8509950B2 (en) | 2013-08-13 |
JP5154712B2 (ja) | 2013-02-27 |
US20130006422A1 (en) | 2013-01-03 |
JPWO2012077335A1 (ja) | 2014-05-19 |
CN103025492A (zh) | 2013-04-03 |
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