Robot apparatus, robot controlling method, programming and recording medium
First Claim
1. A robot apparatus comprising:
- a robot having a robot arm including a joint and an end effector attached to an end of the robot arm; and
a control unit configured to control an operation of the robot,wherein;
the robot arm has a joint driving unit configured to drive the joint,the joint driving unit has a rotating motor, a speed reducer transmitting a rotation of the rotating motor, a first angle sensor sensing a rotation angle of a rotation axis of the rotating motor or an input axis of the speed reducer, and a second angle sensor sensing a rotation angle of an output axis of the speed reducer, andthe control unit controls the operation of the robot, based on an output value of the second angle sensor until the end effector is positioned to a predetermined position, and based on an output value of the first angle sensor when the operation of the robot is controlled to perform a predetermined working after being positioned to the predetermined position.
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Accused Products
Abstract
A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
35 Citations
11 Claims
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1. A robot apparatus comprising:
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a robot having a robot arm including a joint and an end effector attached to an end of the robot arm; and a control unit configured to control an operation of the robot, wherein; the robot arm has a joint driving unit configured to drive the joint, the joint driving unit has a rotating motor, a speed reducer transmitting a rotation of the rotating motor, a first angle sensor sensing a rotation angle of a rotation axis of the rotating motor or an input axis of the speed reducer, and a second angle sensor sensing a rotation angle of an output axis of the speed reducer, and the control unit controls the operation of the robot, based on an output value of the second angle sensor until the end effector is positioned to a predetermined position, and based on an output value of the first angle sensor when the operation of the robot is controlled to perform a predetermined working after being positioned to the predetermined position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification