Robot control device and control method

Abstract

A robot control device and control method can suppress the generation of vibration in the robot, realize the smooth movement of the robot, and can suppress its deviation from the track when the control method of the robot is CP control. The robot control device that operates based on the teaching data represented by the robot coordinate system has a PTP operation section and a CP operation section. The PTP operation section generates a first internal operation command through PTP control based on the teaching data, performs coordinate conversion of the first internal operation command, and converts the first internal operation command into a motion command in a joint angle system; and the CP operation section generates a second internal motion command based on the teaching data through theCP control, performs coordinate conversion of the second internal motion command, and converts the second internal motion command into a motion command in the joint angle system. The PTP operation section includes a first filter for filtering the first internal operation command before coordinate conversion, and the CP operation section includes a second filter for filtering the second internal operation command before coordinate conversion.

Description

technical field [0001] The invention relates to a control device and a control method for controlling a robot. Background technique [0002] PTP (point-to-point) control and CP (continuous path) control are well known as trajectory control methods for moving the target position of each axis of the robot based on teaching data. PTP control usually specifies only the starting point and end point of the track on which the tip of the tool and hand should be grasped on the robot, and moves the tool and hand. CP control usually specifies the path of a straight line or a curve in a three-dimensional space, so that Controls for movement of the tool, the tip of the hand, along the path. In PTP control, although the start point and end point are shown in the teaching data, the path of the robot between the start point and end point is not specified, especially in a robot with two or more axes, it is determined for each axis After how much that axis should move between the start and ...

AI Technical Summary

Problems solved by technology

As a result, performing only PTP control or CP control does not make the motion of the robot on the track smooth, especially since large changes in acceleration and the interaction of the mass of the robot's arm may be at the end of the track, the bending point Vibration caused by the vicinity of

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