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ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM

  • US 20140114479A1
  • Filed: 01/02/2014
  • Published: 04/24/2014
  • Est. Priority Date: 11/10/2011
  • Status: Active Grant
First Claim
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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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