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Control device and control method for robot and the robot

  • US 9,095,979 B2
  • Filed: 07/29/2013
  • Issued: 08/04/2015
  • Est. Priority Date: 07/31/2012
  • Status: Active Grant
First Claim
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1. A control device for a robot including:

  • a robot main body;

    an arm coupled to the robot main body and including a plurality of links;

    driving units configured to drive the plurality of links; and

    an angle sensor configured to detect a driving amount of the driving units,the control device comprising;

    an inertia sensor set in a damping position corresponding to a target location at which vibration of the arm is to be suppressed, and configured to detect at least one of an acceleration and an angular velocity in the damping position;

    a first calculating unit configured to calculate a first arm speed in the damping position from at least one of the acceleration and the angular velocity in the damping position detected by the inertia sensor;

    a second calculating unit configured to calculate a driving speed from the driving amount of the driving units detected by the angle sensor and calculate a second arm speed in the damping position based on the driving amount and the driving speed;

    a third calculating unit configured to calculate a third arm speed based on the first arm speed and the second arm speed;

    a fourth calculating unit configured to calculate, based on the third arm speed, a correction speed for each of the driving units that drive the links present between the robot main body and the damping position; and

    a control unit configured to control, based on the driving amount, the driving speed, and the correction speed, the driving units that drive the links present between the robot main body and the damping position.

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