Control device and robot system

Patent metadata

Field	Value
Publication number	US-10994414-B2
Application number	US-201816003333-A
Country	US
Kind code	B2
Filing date	Jun 8, 2018
Priority date	Jun 9, 2017
Publication date	May 4, 2021
Grant date	May 4, 2021

Abstract

A control device for controlling a robot including an arm driven via a reduction gear by a motor generating a drive force, the control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to perform speed control on the arm by using an input detection value from an input position detection sensor which detects an input side operation position of the reduction gear, and an output detection value from an output position detection sensor which detects an output side operation position of the reduction gear.

First claim

What is claimed is:

1. A control device for controlling a robot including an arm driven via a reduction gear by a motor generating a drive force, the control device comprising:
a processor configured to execute computer-executable instructions so as to control a robot,
wherein the processor is configured to perform speed control on the arm by using an input detection value from an input position detection sensor configured to detect an input side operation position of the reduction gear, and an output detection value from an output position detection sensor configured to detect an output side operation position of the reduction gear,
wherein a detection period of the output side operation position detected by the output position detection sensor is longer than a detection period of the input side operation position detected by the input position detection sensor, and
wherein the processor is configured to perform the speed control on the arm by using a difference between a delay input detection value and the output detection value, the delay input detection value being an output of the input detection sensor during a delayed detection period.

2. The control device according to claim 1 , comprising:
a low pass filter to which the difference between the delay input detection value and the output detection value is input,
wherein the processor is configured to perform the speed control on the arm by using an output of the low pass filter.

3. The control device according to claim 1 ,
wherein the output position detection sensor includes a camera configured to image the arm, and
wherein the output position detection sensor is configured to detect the output side operation position of the reduction gear based on an output from the camera.

4. The control device according to claim 1 ,
wherein the output position detection sensor is configured to detect an angular position of an output shaft of the reduction gear which transmits a rotary motion as an output.

5. The control device according to claim 2 ,
wherein the output position detection sensor is configured to detect an angular position of an output shaft of the reduction gear which transmits a rotary motion as an output.

6. The control device according to claim 1 ,
wherein a force sensor configured to detect an externally applied force is disposed in the arm, and
wherein the processor is configured to perform the speed control on the arm based on an output of the force sensor.

7. The control device according to claim 2 ,
wherein a force sensor configured to detect an externally applied force is disposed in the arm, and
wherein the processor is configured to perform the speed control on the arm based on an output of the force sensor.

8. A robot system comprising:
a robot including an arm driven via a reduction gear by a motor generating a drive force, and
a processor configured to execute computer-executable instructions so as to control the robot,
wherein the processor is configured to perform speed control on the arm by using an input detection value from an input position detection sensor configured to detect an input side operation position of the reduction gear, and an output detection value from an output position detection sensor configured to detect an output side operation position of the reduction gear,
wherein a detection period of the output side operation position detected by the output position detection sensor is longer than a detection period of the input side operation position detected by the input position detection sensor, and
wherein the processor is configured to perform the speed control on the arm by using a difference between a delay input detection value and the output detection value, the delay input detection value being an output of the input detection sensor during a delayed detection period.

9. The robot system according to claim 8 , comprising:
a low pass filter to which the difference between the delay input detection value and the output detection value is input,
wherein the processor is configured to perform the speed control on the arm by using an output of the low pass filter.

10. The robot system according to claim 8 ,
wherein the output position detection sensor includes a camera configured to image the arm, and
wherein the output position detection sensor is configured to detect the output side operation position of the reduction gear based on an output from the camera.

11. The robot system according to claim 8 ,
wherein the output position detection sensor is configured to detect an angular position of an output shaft of the reduction gear which transmits a rotary motion as an output.

12. The robot system according to claim 9 ,
wherein the output position detection sensor is configured to detect an angular position of an output shaft of the reduction gear which transmits a rotary motion as an output.

13. The robot system according to claim 8 ,
wherein a force sensor configured to detect an externally applied force is disposed in the arm, and
wherein the processor is configured to perform the speed control on the arm based on an output of the force sensor.

14. The robot system according to claim 9 ,
wherein a force sensor configured to detect an externally applied force is disposed in the arm, and
wherein the processor is configured to perform the speed control on the arm based on an output of the force sensor.

Assignees

• Seiko Epson Corp

Inventors

• Imai Ryosuke
• Motoyoshi Masaki

Classifications

• B25J9/1653 Primary

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• B25J13/06

  Control stands, e.g. consoles, switchboards · CPC title

• B25J9/1607

  Calculation of inertia, jacobian matrixes and inverses · CPC title

• B25J15/02

  servo-actuated · CPC title

• B25J3/04

  involving servo mechanisms (servo-actuated heads B25J15/02) · CPC title