Robot controlling device
First Claim
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.
1 Assignment
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Accused Products
Abstract
A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount.
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Citations
5 Claims
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1. A robot controlling device, comprising:
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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. - View Dependent Claims (2, 3, 4, 5)
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Specification