Robot control apparatus
First Claim
1. A robot control apparatus comprising:
- a position detector for detecting a position of an actuation unit of the robot;
a position control unit for producing a speed reference on the basis of a deviation between a detection value of said position detector and a predetermined movement value;
a speed detector for detecting a speed of a motor for driving said actuation unit;
a speed control unit for producing a torque reference on the basis of a deviation between a detection value of said speed detector and said speed reference;
a current control unit for controlling a current delivered to said motor on the basis of said torque reference;
a function generator for generating a function which moderately increases its function value from a point in time when a command for allowing said robot to be subjected to an emergency stop is received;
a limiter for limiting the magnitude of said torque reference on the basis of said function; and
a switch for allowing said limiter to be operative only when said command is received.
1 Assignment
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Accused Products
Abstract
A position of an actuation unit of a robot and a speed of a motor for driving the actuation unit are detected. A speed reference is produced on the basis of a deviation between a movement value and a position detected. Further, a torque reference is produced on the basis of a deviation between the speed reference and a speed detected. The motor for driving the actuation unit is subjected to current control. The magnitude of the torque reference is limited by a limiter. This limiter operates only when a command for allowing the robot to be subjected to emergency stop is received, and carries out limiting operation on the basis of a function which rises from the time point when the command is received.
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Citations
8 Claims
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1. A robot control apparatus comprising:
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a position detector for detecting a position of an actuation unit of the robot; a position control unit for producing a speed reference on the basis of a deviation between a detection value of said position detector and a predetermined movement value; a speed detector for detecting a speed of a motor for driving said actuation unit; a speed control unit for producing a torque reference on the basis of a deviation between a detection value of said speed detector and said speed reference; a current control unit for controlling a current delivered to said motor on the basis of said torque reference; a function generator for generating a function which moderately increases its function value from a point in time when a command for allowing said robot to be subjected to an emergency stop is received; a limiter for limiting the magnitude of said torque reference on the basis of said function; and a switch for allowing said limiter to be operative only when said command is received. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A robot control apparatus comprising:
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a position detector for detecting a position of an actuation unit of the robot; a position control unit for producing a speed reference on the basis of a deviation between a detection value of said position detector and a predetermined movement value; a speed detector for detecting a speed of a motor for driving said actuation unit; a speed control loop for producing a torque reference on the basis of a deviation between a detection unit of said speed detector and said speed reference; a current control loop for controlling a current delivered to said motor on the basis of said torque reference; a function generator for generating, when a command indicative of an emergency stop is produced, a function output of said torque reference which moderately increases its function value up to a predetermined function value; a limiter for limiting the magnitude of said torque reference on the basis of said function; and a switch for allowing said limiter to be operative only when said command is received. - View Dependent Claims (8)
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Specification