ROBOT CONTROL METHOD AND DEVICE
When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric...
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| creator | OJIMA, MASAO TOMISAKI, HIDENORI KARIYAZAKI, HIROKAZU |
| description | When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref_L, Xref_U with respect to the electric motors and outputs model motor position commands Mm_L, Mm_U, model motor speed commands /Mm_L, /Mm_U, and model feed-forward commands UFF_L, UFF_U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. The model controller (1) outputs the model feed-forward commands with the corrective quantities added thereto. |
| format | Patent |
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A model controller (1) is supplied with position commands Xref_L, Xref_U with respect to the electric motors and outputs model motor position commands Mm_L, Mm_U, model motor speed commands /<.>Mm_L, /<.>Mm_U, and model feed-forward commands UFF_L, UFF_U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. 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The model controller (1) outputs the model feed-forward commands with the corrective quantities added thereto.</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL</subject><subject>CONTROLLING</subject><subject>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</subject><subject>PERFORMING OPERATIONS</subject><subject>PHYSICS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>REGULATING</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2000</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZJAP8nfyD1Fw9vcLCfL3UfB1DfHwd1Fw9HNRcHEN83R25WFgTUvMKU7lhdLcDApuriHOHrqpBfnxqcUFicmpeakl8a4BhgZGxpbmxo6GxkQoAQCFbiEL</recordid><startdate>20000802</startdate><enddate>20000802</enddate><creator>OJIMA, MASAO</creator><creator>TOMISAKI, HIDENORI</creator><creator>KARIYAZAKI, HIROKAZU</creator><scope>EVB</scope></search><sort><creationdate>20000802</creationdate><title>ROBOT CONTROL METHOD AND DEVICE</title><author>OJIMA, MASAO ; TOMISAKI, HIDENORI ; KARIYAZAKI, HIROKAZU</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_EP1023973A13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; fre ; ger</language><creationdate>2000</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>CONTROL OR REGULATING SYSTEMS IN GENERAL</topic><topic>CONTROLLING</topic><topic>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</topic><topic>PERFORMING OPERATIONS</topic><topic>PHYSICS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>REGULATING</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>OJIMA, MASAO</creatorcontrib><creatorcontrib>TOMISAKI, HIDENORI</creatorcontrib><creatorcontrib>KARIYAZAKI, HIROKAZU</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>OJIMA, MASAO</au><au>TOMISAKI, HIDENORI</au><au>KARIYAZAKI, HIROKAZU</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>ROBOT CONTROL METHOD AND DEVICE</title><date>2000-08-02</date><risdate>2000</risdate><abstract>When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. 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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING TRANSPORTING |
| title | ROBOT CONTROL METHOD AND DEVICE |
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