ROBOT CONTROLLING DEVICE

• US 20120150347A1
• Filed: 02/16/2012
• Published: 06/14/2012
• Est. Priority Date: 09/24/2009
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Ohga, Junichiro, Oaki, Junji, Ogawa, Hideki
• Granted Patent: US 8,428,779 B2
• Time in Patent Office: Days
• US Class Current: 700/254
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: G05B 2219/39325 External force control, additional loop comparing forces corrects position

Abstract

A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount.

Claims

1. A robot controlling device, comprising:

an actuator to drive a drive shaft transferring a driving force to a joint shaft;

a drive shaft angle detector to detect an angle of the drive shaft;

a joint shaft angle calculator to calculate an angle of the joint shaft from the angle of the drive shaft;

an endpoint position calculator configured to calculate an endpoint position of a robot from the angle of the joint shaft;

a position commanded value generator configured to generate a position commanded value for the endpoint position;

a position error calculator configured to calculate a position error, which is an error between the endpoint position and the position commanded value;

a Jacobian matrix calculator configured to calculate a Jacobian matrix between an operational coordinate system of the robot and a joint coordinate system, on the basis of the angle of the joint shaft;

a joint angle difference calculator configured to calculate a joint angle difference, from the position error and the Jacobian matrix, according to an inverse kinematics calculation;

a torque commanded value calculator configured to calculate a torque commanded value by integrating the joint angle difference;

a driver to drive the actuator on the basis of the torque commanded value;

an external force calculator configured to calculate an external force applied to the endpoint position;

a force commanded value generator configured to generate a force commanded value for the endpoint position;

a force error calculator configured to calculate a force error which is an error between the external force and the force commanded value;

a compliance model storage to store a compliance model for the endpoint position;

a first correction amount calculator configured to calculate a first correction amount for the position commanded value, according to the force error, using the compliance model;

and a second correction amount calculator configured to calculate a second correction amount for the position commanded value, on the basis of a first order lag compensation for the first correction amount,

wherein the position error calculator calculates the position error using the second correction amount.

2. The device according to claim 1, wherein the second correction amount calculator increases a time constant of the first order lag compensation if an absolute value of the first correction amount is more than or equal to a first threshold.

3. The device according to claim 2, further comprising:

a position error storage to store the position error calculated by the position error calculator; and

a position error integral calculator to integrate the position error stored in the position error storage,

wherein the second correction amount calculator increases a time constant of the first order lag compensation if an integral value of the position error is more than or equal to a second threshold.

4. The device according to claim 3, further comprising

an external torque calculator configured to calculate an external torque applied to the joint shaft,

wherein the external force calculator calculates an external force applied to the endpoint position, on the basis of the Jacobian matrix and the external torque.

5. The device according to claim 4, further comprising:

a driving torque estimator configured to estimate a driving torque for driving the actuator, from the angle of the joint shaft; and

a friction coefficient storage to store a friction coefficient at the endpoint position,

wherein the external torque calculator acquires a difference between the estimated driving torque and the torque commanded value as the external torque,

the driving torque estimator includes;

a drive shaft velocity calculator configured to calculate an angular velocity of the drive shaft from the angle of the drive shaft;

a friction force torque calculator configured to calculate a friction torque from the angular velocity of the drive shaft and the friction coefficient;

a gravitational torque calculator configured to calculate a gravitational torque from the angle of the joint shaft;

an inertia torque calculator configured to calculate an inertia torque from the angle of the joint shaft; and

an adder configured to acquire the driving torque by adding the friction force torque, the gravitational torque and the inertia torque, and

the inertia torque calculator includes;

a velocity calculating unit configured to calculate a joint angle velocity from the angle of the joint shaft;

an acceleration calculating unit configured to calculate a joint angular acceleration from the joint angle velocity;

an inertia moment calculating unit configured to calculate an inertia moment of a link of the robot, from the angle of the joint shaft; and

an inertia torque calculating unit configured to calculate an inertia torque, from the joint angular acceleration and the inertia moment.