Robot, motor unit, and robot control method

The robot system employs a control unit with dual filter units to smoothly adjust vibration frequencies, addressing discontinuous positional deviations and ensuring stable operation by selectively processing position commands, thus enhancing robot performance.

JP2025130283APending Publication Date: 2025-09-08SEIKO EPSON CORP
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Patent Information

Application Number
JP2024027358
Authority / Receiving Office
JP · JP
Patent Type
Applications
Current Assignee / Owner
Filing Date
2024-02-27
Publication Date
2025-09-08

AI Technical Summary

Technical Problem

Existing robot control systems face challenges in smoothly switching the frequency of vibrations to be reduced during operation, leading to discontinuous positional deviations when using IIR filters, especially when the robot's posture or load changes.

Method used

A robot system with a control unit that includes a command generation unit, filter processing units, and a drive signal generation unit, utilizing a first and second filter unit to selectively process position commands, allowing for smooth transitions between different frequency reductions, thereby accommodating changes in vibration frequencies.

Benefits of technology

Enables rapid and seamless switching of vibration frequencies without causing discontinuous positional deviations, effectively reducing resonance and maintaining stable robot operation.

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Abstract

To provide a robot which corresponds to the change of a frequency of vibration to be reduced.SOLUTION: A robot includes an arm, a motor and a control part. The control part includes a command generating part for generating a position command, a filter processing part for performing filter processing of the position command and generating a filtered command, and a driving signal generating part for generating a driving signal of the motor using the filtered command. The filter processing part includes: a first filter part which performs processing of reducing the component of a first target frequency to a signal based on the position command, and generates a first command; a second filter part which performs processing of reducing the component of a second target frequency to a signal based on the position command, and generates a second command; a switching part for selectively inputting the position command generated by the command generating part to the first filter part and the second filter part; and a synthesis part for generating the filtered command using the sum of the signal based on the first command and the signal based on the second command.SELECTED DRAWING: Figure 3
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