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ROBOT CONTROLLING DEVICE

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

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