Collaborative robot
First Claim
Patent Images
1. A robot comprising:
- a base,a vertical support extending from the base along a vertical linear axis,an arm assembly supported by the vertical support and moveable relative to the vertical support along the vertical linear axis,an arm assembly drive arranged to move the arm assembly relative to the vertical support, the arm assembly drive including a motor and drive train arranged to move the arm assembly and having a drive ratio of less than 25;
1,the arm assembly further comprising;
a first arm link coupled to the vertical support and arranged to rotate relative to the base about a first rotary axis that is oriented in a vertical direction,a first link drive including a motor and drive train arranged to rotate the first arm link relative to the base about the first rotary axis and having a drive ratio of less than 25;
1,a second arm link coupled to the first arm link and arranged to rotate relative to the first arm link about a second rotary axis that is oriented in the vertical direction, the second rotary axis being spaced from the first rotary axis,a second link drive including a motor and drive train arranged to rotate the second arm link relative to the first arm link about the second rotary axis and having a drive ratio of less than 25;
1, anda third link coupled to the second arm link and arranged to rotate relative to the second arm link about a third rotary axis, anda controller constructed and arranged to provide control signals to the arm assembly drive and to the first and second link drives to move the arm assembly, the first arm link and the second arm link, wherein the control signals provided by the controller include feedforward torque components determined in real time using a dynamic model of the robot and that include at least one of acceleration, gravity, velocity and friction compensation torque components to drive at least the arm assembly, the first arm link and the second arm link, the control signals provided by the controller further including a feedback torque components and the controller comprising a control circuit that limits the feedback torque component of a control signal for the arm assembly drive or for the first and second link drives to less than 25% of a maximum motor torque for the respective drive.
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Abstract
A collaborative robot employs low ratio drives for three or more axes of movement, such as three primary axes. An arm assembly may be mounted to a support for movement along a vertical linear axis, and the arm assembly may include first and second arm links that are each rotatable about vertical axes, e.g., such that the arm links move in a horizontal plane. Low ratio drives may be used for movement along the vertical linear axis and the rotary axes for the first and second arm links. Feedforward and feedback control may be employed to control the movement of the arm assembly and arm links, and feedback torque components may be limited to 25% or less of the maximum drive torque.
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Citations
17 Claims
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1. A robot comprising:
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a base, a vertical support extending from the base along a vertical linear axis, an arm assembly supported by the vertical support and moveable relative to the vertical support along the vertical linear axis, an arm assembly drive arranged to move the arm assembly relative to the vertical support, the arm assembly drive including a motor and drive train arranged to move the arm assembly and having a drive ratio of less than 25;
1,the arm assembly further comprising; a first arm link coupled to the vertical support and arranged to rotate relative to the base about a first rotary axis that is oriented in a vertical direction, a first link drive including a motor and drive train arranged to rotate the first arm link relative to the base about the first rotary axis and having a drive ratio of less than 25;
1,a second arm link coupled to the first arm link and arranged to rotate relative to the first arm link about a second rotary axis that is oriented in the vertical direction, the second rotary axis being spaced from the first rotary axis, a second link drive including a motor and drive train arranged to rotate the second arm link relative to the first arm link about the second rotary axis and having a drive ratio of less than 25;
1, anda third link coupled to the second arm link and arranged to rotate relative to the second arm link about a third rotary axis, and a controller constructed and arranged to provide control signals to the arm assembly drive and to the first and second link drives to move the arm assembly, the first arm link and the second arm link, wherein the control signals provided by the controller include feedforward torque components determined in real time using a dynamic model of the robot and that include at least one of acceleration, gravity, velocity and friction compensation torque components to drive at least the arm assembly, the first arm link and the second arm link, the control signals provided by the controller further including a feedback torque components and the controller comprising a control circuit that limits the feedback torque component of a control signal for the arm assembly drive or for the first and second link drives to less than 25% of a maximum motor torque for the respective drive. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A robot comprising:
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a base, a vertical support extending from the base along a vertical linear axis, an arm assembly supported by the vertical support and moveable relative to the vertical support along the vertical linear axis, an arm assembly drive arranged to move the arm assembly relative to the vertical support, the arm assembly drive including a motor and drive train arranged to move the arm assembly and having a drive ratio of less than 25;
1,the arm assembly further comprising; a first arm link coupled to the vertical support and arranged to rotate relative to the base about a first rotary axis that is oriented in a vertical direction, a first link drive including a motor and drive train arranged to rotate the first arm link relative to the base about the first rotary axis and having a drive ratio of less than 25;
1,a second arm link coupled to the first arm link and arranged to rotate relative to the first arm link about a second rotary axis that is oriented in the vertical direction, the second rotary axis being spaced from the first rotary axis, a second link drive including a motor and drive train arranged to rotate the second arm link relative to the first arm link about the second rotary axis and having a drive ratio of less than 25;
1, anda third link coupled to the second arm link and arranged to rotate relative to the second arm link about a third rotary axis, and a controller constructed and arranged to provide control signals to the arm assembly drive and to the first and second link drives to move the arm assembly, the first arm link and the second arm link, wherein the control signals provided by the controller to the arm assembly drive and to the first and second link drives include a linearization compensation to compensate for non-linearities of a motor and drive train of a corresponding drive. - View Dependent Claims (17)
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Specification