ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
First Claim
1. A robot having joints, comprising:
- a position information acquiring section that acquires time series information about a position of the robot, speed information thereof, or acceleration information thereof;
a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between a plurality of dynamics parameters having the dynamics parameter of the robot in a state where the robot does not grip an object and the dynamics parameter including the object gripped by the robot in a state where the robot arm grips the object; and
a desired torque calculation section that outputs a desired value of a joint torque of the robot as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the position of the robot, the speed information thereof, or the acceleration information thereof acquired by the position information acquiring section,wherein an operation of the robot is controlled based on an output from the desired torque calculation section.
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Accused Products
Abstract
A robot having joints includes a position information acquiring section that acquires time series information about a robot position, speed information, or acceleration information, a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between dynamics parameters including dynamics parameter of the robot gripping no object and dynamics parameter including the object gripped by the robot which robot arm gripping the object, and a desired torque calculation section that outputs a desired robot joint torque value as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the robot position, the speed information, or the acceleration information acquired by the position information acquiring section. The robot controls an operation of the robot based on an output from the desired torque calculation section.
81 Citations
12 Claims
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1. A robot having joints, comprising:
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a position information acquiring section that acquires time series information about a position of the robot, speed information thereof, or acceleration information thereof; a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between a plurality of dynamics parameters having the dynamics parameter of the robot in a state where the robot does not grip an object and the dynamics parameter including the object gripped by the robot in a state where the robot arm grips the object; and a desired torque calculation section that outputs a desired value of a joint torque of the robot as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the position of the robot, the speed information thereof, or the acceleration information thereof acquired by the position information acquiring section, wherein an operation of the robot is controlled based on an output from the desired torque calculation section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A control device of a robot having joints, comprising:
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a position information acquiring section that acquires time series information about a position of the robot, speed information thereof, or acceleration information thereof; a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between a plurality of dynamics parameters having the dynamics parameter of the robot in a state where the robot does not grip an object and the dynamics parameter including the object gripped by the robot in a state where the robot arm grips the object; and a desired torque calculation section that outputs a desired value of a joint torque of the robot as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the position of the robot, the speed information thereof, or the acceleration information thereof acquired by the position information acquiring section, wherein an operation of the robot is controlled based on an output from the desired torque calculation section.
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11. A control method of a robot having joints, comprising:
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acquiring time series information about a position of the robot, speed information thereof, or acceleration information thereof by a position information acquiring section; switching a gravity term component and an inertia force term component of a motion equation separately between a plurality of dynamics parameters having the dynamics parameter of the robot in a state where the robot does not grip an object and the dynamics parameter including the object gripped by the robot in a state where the robot arm grips the object, by a dynamics parameter switching section; outputting a desired value of a joint torque of the robot as a desired joint torque by a desired torque calculation section based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the position of the robot, the speed information thereof, or the acceleration information thereof acquired by the position information acquiring section; and controlling an operation of the robot based on an output from the desired torque calculation section.
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12. A computer-readable recording medium including a control program of a robot having joints for allowing a computer to execute:
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a function of a position information acquiring section that acquires time series information about a position of the robot, speed information thereof, or acceleration information thereof; a function of a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between a plurality of dynamics parameters having the dynamics parameter of the robot in a state where the robot does not grip an object and the dynamics parameter including the object gripped by the robot in a state where the robot arm grips the object; a function of a desired torque calculation section that outputs a desired value of a joint torque of the robot as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the position of the robot, the speed information thereof, or the acceleration information thereof acquired by the position information acquiring section; and a function for controlling an operation of the robot based on an output from the desired torque calculation section.
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Specification