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Robot control device

A control device and robot technology, applied in the direction of program control, general control system, program control manipulator, etc., can solve the problems of high cost, reduced vibration suppression effect of vibration suppression control, large amount of wiring, etc.

Inactive Publication Date: 2015-02-11
KK TOSHIBA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this technique requires a lot of wiring, causing problems such as high cost in some cases
[0007] Also, in the vibration suppression control system that performs feedback of the shaft torsional angular velocity, when the end effector load is small or has low inertia, there is a problem that the vibration damping effect of the vibration suppression control decreases regardless of the shaft torsional angular velocity Is it estimated by a state observer or directly measured

Method used

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Examples

Experimental program
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Effect test

no. 1 example

[0080] Figure 5 A viewer of the robot controller according to the first embodiment is shown. The observer 200 of the first embodiment includes first axis and second axis PI controllers 201 and 202, a dual link arm nonlinear dynamic model 203, integrators 204a, 204b integrating the output of the nonlinear dynamic model 203 , 204c, 204d, 205a, 205b, 205c, and 205d. The PI controller 201 is based on the speed dθ of the motor driving the first shaft M1 / dt performs PI control with respect to the deviation of the estimated value of the rotation angle of the motor driving the first shaft. PI controller 202 is based on the speed dθ of the motor driving the second shaft M2 / dt performs PI control with respect to the deviation of the estimated value of the rotation angle of the motor driving the second shaft. The dual-link arm nonlinear dynamic model 203 estimates the angular acceleration of the first and second links based on a nonlinear dynamic model based on the output of the P...

no. 2 example

[0114] Figure 10 A robot controller according to a second embodiment is shown. The control device of this second embodiment has a function of controlling the feedback of the angular acceleration of the link through growth and stabilization of inertia, and a function of calculating a gain of the feedback control.

[0115] The aforementioned drop in inertia occurs not only when the end effector load is small, but also when the posture of the robot arm changes. For example, in a two-link robotic arm, the inertia around the first axis decreases as the angle of the second axis becomes larger. In view of this, the reduction of inertia due to posture changes should be compensated by link angular acceleration feedback.

[0116] If the inertia reduction from the maximum value of the (1,1) component of the inertia matrix as shown in equation (3) is considered in the dual-link robot arm, equation (12) is established.

[0117] k AV1 =2γ(1-cos(θ L2 ))n G1 (12)

[0118] Accor...

no. 3 example

[0129] Figure 11 A viewer of the robot controller according to the third embodiment is shown. The observer 200A of the third embodiment and Figure 5 The observer 200 of the illustrated first embodiment is the same except that a physical parameter switching unit 206 is further included. like Figure 11 As shown, the observer 200A of the third embodiment uses the physical parameter switching unit 206 to perform the calculation for the nonlinear dynamic model 203 with respect to the change of the end effector load and the change of the friction force accompanying the change of the end effector load. Switching of physical parameter sets (gain scheduling) so that vibration suppression performance becomes robust regardless of end-effector load and friction variations in the robot. To explicitly switch physical parameter sets, for example, robot language such as "Payload (5kg)" is entered and used when the end effector load is changed. Physical parameter sets include mass, mome...

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Abstract

A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia.

Description

technical field [0001] Embodiments described herein relate generally to robot controls. Background technique [0002] In order to suppress vibration at the far end of a multi-link robot, the shaft torsional angular velocity (the difference between the link angular velocity and the motor angular velocity) needs to be measured from the motor angular velocity measured by the encoder installed in the motor driving each axis. To estimate and be fed back to the motor angular velocity control system. In this estimation, a nonlinear observer based on a nonlinear dynamic model is required to consider elastic joints, and nonlinear disturbances induce interactions between the links. [0003] In order to implement this multiple input / output nonlinear observer, an accurate dynamics model needs to be established, and it is required to be robust to changes in payload and friction torque. Conventionally, an approximate observer based on a linear model of an input / output that performs "in ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00
CPCG05B2219/41398B25J9/1651B25J9/1653B25J9/1638B25J9/1641G05B2219/41392
Inventor 大明准治
Owner KK TOSHIBA
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