Drive control method and drive controller

• US 20050104549A1
• Filed: 02/18/2003
• Published: 05/19/2005
• Est. Priority Date: 02/18/2002
• Status: Active Grant

• Current Assignee: Kawasaki Jukogyo Kabushiki Kaisha
• Original Assignee: Kawasaki Jukogyo Kabushiki Kaisha
• Inventors: Nishimura, Tetsuhiko, Sano, Masatoshi, Kegasa, Yoshinori
• Granted Patent: US 7,102,311 B2
• Time in Patent Office: Days
• US Class Current: 318/568.240
• CPC Class Codes: B25J 9/1651 acceleration, rate control
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/37624 Detect collision, blocking by measuring change of velocity or torque
• CPC Class Codes: G05B 2219/49162 On collision, obstruction reverse drive, accelerate, cancel inertia

Abstract

A drive controller (10′) of the present invention comprises control means (28, 29, 32 to 38) configured to perform control to cause a driven element to move by a driver (M) and a collision detecting means (20) configured to detect a collision of the driven element. The collision detecting means detects the collision of the driven element based on an estimated speed deviation which is an estimated deviation from an actual speed of the driven element or an estimated acceleration deviation which is an estimated deviation from an actual acceleration of the driven element.

Claims

1. A drive controller comprising:

a control means configured to detect a position of a driven element and to perform feedback control to cause the driven element to move by a driver based on a position command and the detected position;

a collision detecting means configured to detect a collision of the driven element; and

a collision processing means, wherein the control means controls the driven element by the driver to cause the driven element to continue its current movement, in addition to the feedback control of the movement, the collision detecting means detects the collision of the driven element based on an estimated speed deviation which is an estimated deviation from an actual speed of the driven element or an estimated acceleration deviation which is an estimated deviation from an actual acceleration of the driven element, and the collision processing means causes the driven element to reverse a movement before the collision after causing the driven element to stop continuation of the current movement by the control means, based on a signal indicating that a collision has been detected.

2. The drive controller according to claim 1, wherein the collision detecting means obtains the estimated speed deviation or the estimated acceleration deviation based on the position command and the detected position.

3. The drive controller according to claim 2, wherein the collision detecting means obtains both the estimated speed deviation and the estimated acceleration deviation, and detects the collision by determining that the collision has occurred when either the estimated speed deviation or the estimated acceleration deviation is above a corresponding threshold.

4. The drive controller according to claim 1, wherein the collision detecting means obtains the estimated position of the driven element in such a manner that a filter having a time constant equal to a time constant of the driven element under control by the driver filters the position command value to allow the estimated position of the driven member to be obtained, and obtains the estimated speed deviation or the estimated acceleration deviation based on the obtained estimated position and the detected position.

6. The drive controller according to claim 1, wherein

the control means controls a movement of the driven element by the driver based on a first position command, and

the collision processing means includes a position storage means configured to sequentially store positions of the driven element, and a second position command generating means configured to generate a second position command for arranging the stored positions of the driven element in a reverse direction on a time axis and to input the second position command to the control means instead of the first position command, upon receiving the signal indicating that the collision has been detected.

8. A drive control system comprising a robot controller including a drive controller according to claim 1 wherein a device to be controlled is a robot, and wherein the driven element is an end effecter and the driver.

9. The drive controller according to claim 1, wherein a device to be controlled comprises a robot including a plurality of said drive controllers, wherein

the robot includes an arm having drivers corresponding to the plurality of drive controllers, an end effecter, and links, the drivers and the links being interconnected to be alternately placed, from a base end of the arm toward a tip end of the arm, and the end effecter being connected to the driver connected to the link located closest to the tip end of the arm, and

a portion of the arm which is located closer to the tip end than each driver forms the driven element of each driver.

5. (canceled)

7. (canceled)

10. A drive control method comprising the steps of:

performing feedback control by detecting a position of a driven element and by causing the driven element to move by a driver based on a position command and the detected position;

detecting a collision of the driven element; and

processing the collision, wherein in the step of performing control, the driven element is controlled by the driver to cause the driven element to continue its current movement, in addition to the feedback control, in the step of detecting the collision, the collision of the driven element is detected based on an estimated speed deviation which is an estimated deviation from an actual speed of the driven element or an estimated acceleration deviation which is an estimated deviation from an actual acceleration of the driven element, and in the step of processing the collision, the driven element is caused to reverse a movement before collision after causing the driven element to stop continuation of the current movement in the control step, based on a signal indicating that a collision has been detected.

11. The drive control method according to claim 10, wherein in the step of detecting the collision, the estimated speed deviation or the estimated acceleration deviation is obtained based on the position command and the detected position.

12. The drive control method according to claim 11, wherein in the step of detecting the collision, both the estimated speed deviation and the estimated acceleration deviation are obtained, and the collision is detected by determining that the collision has occurred when either the estimated speed deviation or the estimated acceleration deviation is above a corresponding threshold.

13. The drive control method according to claim 10, wherein in the step of detecting the collision, a filter having a time constant equal to a time constant of the driven element under control by the driver filters the position command value to allow an estimated position of the driven element to be obtained, and based on the obtained estimated position and the detected position, the estimated speed deviation or the estimated acceleration deviation is obtained.

15. The drive control method according to claim 10, wherein

in the control step, movement of the driven element is controlled by the driver based on a first position command, and

the step of processing the collision includes sequentially storing positions of the driven element, and, upon detecting the collision, generating a second position command to arrange the stored positions of the driven element in a reverse direction on a time axis and using the second position command instead of the first position command in the control step.

17. A drive control method comprising a robot drive control method including the drive control method according to claim 10 in which a device to be controlled is a robot, wherein the driven element is an end effecter and the driver.

18. The drive control method according to claim 10 for controlling a robot including a plurality of said drive control methods, wherein

the robot includes an arm having drivers corresponding to the plurality of drive control methods, an end effecter, and links, the drivers and the links being interconnected to be alternately placed, from a base end of the arm toward a tip end of the arm, and the end effecter being connected to the driver connected to the link located closest to the tip end of the arm, and

a portion of the arm which is located closer to the tip end than each driver forms the driven element of each driver.

14. (canceled)

16. (canceled)