Robot control method and robot control device

Robot control method and robot control device

In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detectio...

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Hauptverfasser: Yamamoto, Ryosuke, Ueda, Hiroyoshi, Nakata, Hiroyuki, Hashimoto, Atsumi, Iwatani, Masayoshi
Format: Patent
Sprache:eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator Yamamoto, Ryosuke
Ueda, Hiroyoshi
Nakata, Hiroyuki
Hashimoto, Atsumi
Iwatani, Masayoshi
description In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.
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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Robot control method and robot control device
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