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Driving device, driving method and storage medium

A driving device and driving part technology, applied in the direction of program control manipulator, comprehensive factory control, program control, etc., can solve problems such as complicated operations

Active Publication Date: 2019-07-05
CASIO COMPUTER CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] However, in the aforementioned JP Patent Laid-Open No. 9-062323, there is a technical problem in that complicated work is caused when writing unique ID information to each of the aforementioned servo motors.

Method used

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  • Driving device, driving method and storage medium
  • Driving device, driving method and storage medium
  • Driving device, driving method and storage medium

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0022] Hereinafter, an embodiment in the case where the present invention is applied to a humanoid robot will be described with reference to the drawings.

[0023] figure 1 It is a perspective view showing the external configuration of the robot 10 according to the present embodiment. In this figure, the head 11 (driver), right hand 13 (driver), left hand 14 (driver), right leg 15 (driver) and left leg 16 (driver) are freely rotatable It is mounted on the body part 12, and can be arbitrarily moved by driving the servo motors M1-M5 arranged at each base part, so that each mounting angle with respect to the body part 12 can be changed.

[0024] The servomotors M1-M5 have a modular structure, and specifically include: a motor and its driving circuit (drive control unit), and a memory (first storage unit) for storing the ID code of the servomotor (not shown) described later. shown), generate ID codes, store the generated ID codes in the memory (first storage unit), and send the ...

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PUM

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Abstract

The invention provides a driving device, a driving method and a storage medium. A robot comprises a controller, a plurality of servo motors connected to the controller through a serial bus, and a plurality of drive sections driven by the servo motors respectively, wherein the servo motors include memories storing ID codes that differ from each other. When the ID code transmitted by the controllermatches the content stored in the memory, the servo motor is operated, and the controller transmits the ID codes of the servo motors together via the serial bus. When an arbitrary servo motor that transmits a plurality of servo motors is operated, an operation mode of the robot caused by an arbitrary movement of the driven drive unit is detected, and based on the detected operation mode, correspondence information indicating which servo motor among the servo motors the transmitted ID codes corresponds to is created and registered .

Description

[0001] References for related applications [0002] This application claims the priority of the Japanese patent application No. 2017-246664 filed on December 22, 2017 as the basic application, and the entire content of the basic application is incorporated in the present application. technical field [0003] The present invention relates to a drive device, a drive method, and a recording medium suitable for a robot or the like. Background technique [0004] In robots that imitate some living things by installing servo motors on joints, since the number of servo motors used in the whole robot is large, the following structure is sometimes adopted: using serial communication such as UART (Universal Asynchronous Receiver / Transmitter) Interface to connect multiple servo motors on the same signal line. [0005] In this case, a signal from a controller that collectively controls all the servomotors is distributed as the same signal to each servomotor on the same signal line. Eac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/16B25J13/00B25J13/08
CPCB25J9/10B25J9/1656B25J9/161B25J13/003B25J13/088G05B2219/33337G05B2219/33126B25J9/1664G05B2219/34013B25J9/0009G05B19/4155B25J9/1692
Inventor 石井克典阶上保小川浩良
Owner CASIO COMPUTER CO LTD