Trajectory control device and control method for articulated robot
US-2015112484-A1 · Apr 23, 2015 · US
Trajectory control device and control method for articulated robot
US9254569B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9254569-B2 |
| Application number | US-201314403311-A |
| Country | US |
| Kind code | B2 |
| Filing date | May 30, 2013 |
| Priority date | May 30, 2012 |
| Publication date | Feb 9, 2016 |
| Grant date | Feb 9, 2016 |
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Abstract
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In a trajectory control device ( 10 ) for an articulated robot, a first dynamic characteristic calculation unit ( 300 ) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (θc), and outputs a processed joint-angle target value (θd). A second dynamic characteristic calculation unit ( 400 ) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit ( 300 ), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit ( 200 ), and outputs a processed coupling-torque compensation value (cd).
First claim
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The invention claimed is: 1. A trajectory control device for an articulated robot that drives a plurality of joint axes by a motor so that a tool attached to the articulated robot makes a desired motion, the trajectory control device comprising: a joint-angle command value calculation unit that calculates and outputs a joint-angle command value θc for each of the joint axes to realize the desired motion of the tool; a coupling-torque compensation command value calculation unit…
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Physics · mapped topic
Operations & Transport · mapped topic
Operations & Transport · mapped topic
Physics · mapped topic
Operations & Transport · mapped topic
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- What does patent US9254569B2 cover?
- In a trajectory control device ( 10 ) for an articulated robot, a first dynamic characteristic calculation unit ( 300 ) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (θc), and outputs a processed joint-angle target valu…
- Who is the assignee on this patent?
- Kobe Steel Ltd
- What technology area does this patent fall under?
- Primary CPC classification B25J9/10. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Feb 09 2016 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 2 related publications on this page (citations in our corpus or others sharing the same primary CPC).