ROBOT CONTROLLING METHOD, ROBOT APPARATUS, PROGRAM, RECORDING MEDIUM, AND METHOD FOR MANUFACTURING ASSEMBLY COMPONENT

• US 20170326731A1
• Filed: 07/31/2017
• Published: 11/16/2017
• Est. Priority Date: 06/11/2014
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Ishikawa, Takahiro, Osaka, Tsutomu, Kawamura, Shunsuke
• Granted Patent: US 10,486,309 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05B 2219/34388 Detect correct moment, position, advanced, delayed, then next command
• CPC Class Codes: G05B 2219/37297 Two measurements, on driving motor and on slide or on both sides of motor
• CPC Class Codes: G05B 2219/39098 Estimate stop, brake distance in predef time, then verify if in safe distance
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/23 Electric motor
• CPC Class Codes: Y10S 901/25 Gearing
• CPC Class Codes: Y10T 29/49828 Progressively advancing of work assembly station or assembled portion of work
• CPC Class Codes: Y10T 74/20317 including electric motor

Abstract

Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

Claims

1. A robot controlling method for controlling an articulated robot, joint driving devices configured to drive respective joints of the articulated robot each including a servomotor, a reduction gear, a motor-side angle detector configured to detect an output angle of the servomotor, and a reduction gear-side angle detector configured to detect an output angle of the reduction gear, the articulated robot being stopped for a stopping duration by a control unit before the articulated robot moves from a first motion to a second motion, the robot controlling method comprising:

a feedback control step of carrying out feedback control on the servomotors such that detection angles detected by the respective motor-side angle detectors become target angles;

a leading end position calculation step of obtaining a position of a leading end of the articulated robot based on detection angles detected by the respective reduction gear-side angle detectors;

a timing step of obtaining a time from a reference time point to a time point at which a vibration width, relative to a positioning completion position, of the position of the leading end of the articulated robot calculated in the leading end position calculation step converges within a convergence range; and

a setting step of setting the time obtained in the timing step as the stopping duration.