Robot control device and method for controlling robot

JPWO2025022653A5Pending Publication Date: 2025-09-12
0 Cites 0 Cited by

Patent Information

Application Number
JP2025535536
Authority / Receiving Office
JP · JP
Patent Type
Applications
Filing Date
2025-06-30
Publication Date
2025-09-12

AI Technical Summary

Technical Problem

Multi-joint robots experience vibration issues due to low mechanical rigidity, which reduces productivity and work accuracy, especially when operated at high speeds, and existing control methods struggle to suppress vibrations caused by both the driving axis and non-driving axis deformations.

Method used

A robot control device that incorporates a feed-forward model operative unit, derivative unit, first feed-forward conversion unit, and servo control unit to calculate and control the motor position based on a dynamic model, effectively suppressing vibrations across multiple vibration modes by converting state variables from a feed-forward model to a dynamic scholarship model and controlling the servo motor accordingly.

Benefits of technology

The solution simultaneously suppresses vibrations caused by low rigidity and multiple vibration modes, enhancing productivity and accuracy by effectively controlling the motor positions and reducing residual vibrations in multi-joint robots.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

Abstract

A robot control device (1) comprises: a feed-forward model computation unit (13) that accepts a command position as input and computes a state variable of a feed-forward model on the basis of a preset feed-forward model; a dynamics approximation model derivation unit (12) that accepts a representative pose of an articulated robot as input and derives a dynamics approximation model, which is a model approximating a dynamics model of the articulated robot in the representative pose of the articulated robot; a first feed-forward transformation unit (15) that computes motor position feed-forward, which is a motor position of the dynamics model obtained by performing a coordinate transformation from the state variable of the feed-forward model to a motor position of the dynamics approximation model; and a servo control unit (16) that carries out control of a motor using the motor position feed-forward outputted by the first feed-forward transformation unit (15) as a target position.
Need to check novelty before this filing date? Find Prior Art