Robot arm control method and control device

A manipulator and control mode technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of speed reduction, impossibility of ignoring interference force, etc., achieve the effects of reducing collision energy, improving target following characteristics, and solving deformation problems
CN1771114AInactive Publication Date: 2006-05-10PANASONIC CORP
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
PANASONIC CORP
Publication Date
2006-05-10
Estimated Expiration
Not applicable · inactive patent

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Abstract

By appropriately selecting a command value or an actually measured value as the angular velocity used for friction torque calculation, friction compensation can be effective in both cases when actively operating according to the angular velocity command and passively operating, that is, when being pushed by an external force . Also, after a collision is detected, when the motor rotation direction is opposite to the collision direction, the position control is switched to current control so that the motor generates torque in the opposite direction to the motor rotation direction, thereby reducing the motor rotation speed and weakening the collision energy. Thereafter, when the motor rotation speed becomes the set value or lower, the mode is set to flexible control, thereby eliminating deformation of the speed reduction device or the like caused by the collision. On the other hand, when the motor rotation direction and the collision direction are the same, the position control is directly transferred to the flexibility control without going through the current control. By performing operations according to the collision force, it is possible to weaken the collision torque.
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Description

technical field

[0001] The invention relates to a method and a device for controlling a manipulator driven by a motor. More specifically, the present invention relates to a compliance servo control technique for controlling a manipulator, i.e. the invention relates to a method for controlling a manipulator stop after a collision with an object has been detected and equipment. Background technique

[0002] Recently, robots have been used not only in industrial fields but also in public consumer fields. Therefore, ensuring security has become important. However, according to the stopper that stops the robot by detecting an external force applied to the robot at the time of collision using a force sensor, manufacturing cost and weight undesirably increase. Thus, it is desirable to enhance the performance of compliant servo control, including collision detection, and to enhance the performance of stop-motion control without the use of sensors.

[0003] As for the method for ...

Claims

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