Panasonic Intellectual Property Management Co., Ltd.

Panasonic Corporation

Matsushita Electric Industrial Co., Ltd.

Panasonic Intellectual Property

Hiroyuki Nakata

Atsumi Hashimoto

Ryosuke Yamamoto

Yasuyoshi Honuchi

Hiroyoshi Ueda

Masayoshi Iwatani

Yasushi Mukai

Masaru Kowa

Tatsuya Ikeda

Naoto Masunaga

Atsuhiro Kawamoto

Takeshi Masaki

Toshihiko Wada

Yoshio Yamada

Yasuhiro Kinugasa

Toru Nakagawa

Seiji Iwai

Hirofumi Yasumoto

When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm () is performed in a gripping state of workpiece (W), the deflection compensation of robot arm () is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm () in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand () is moved from a first teaching point to a second teaching point.

Robot control method

Stop and start detection block () determines whether or not a joint portion is in a stopped state before a rotation direction of the joint portion is inverted based on stop flag signal (Stop_Flg). When it is determined that the joint portion is in the stopped state, filter processing block () changes a frequency component of a correction amount for correcting backlash to a low frequency lower than a predetermined threshold value.

Robot control method and robot control device

A determination value calculated based on a distance from a work point of a tip of robot arm () to virtual straight line () passing through an axis of second joint (J) and an axis of third joint (J) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J) and third joint (J) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J) and third joint (J) are caused to pivot based on the calculated deflection compensation amounts.

Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.

In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.

A robot control device includes the following: a main control unit; a servo control unit, which receives a position command &#x3b8;c from the main control unit; and a bending correction block (), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block () includes the following: a first position-correction-value calculation means (), which finds a first position-command correction value &#x3b8;sgc based on the position command &#x3b8;c; and a second position-command-correction-value calculation means (), which finds a second position-command correction value &#x3b8;skc based on the interference torque &#x3c4;a. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value &#x3b8;sgc and the second position-command correction value &#x3b8;skc to the position command &#x3b8;c.

Robot control device

A robot control method of controlling motion of a robot arm by using a servo motor includes adding d-axis electric current to a motor electric current command (steps--) if external temperature is less than or equal to a predetermined value (step-), and if an absolute value of the motor electric current command is less than or equal to a predetermined value (step-), and if a value of detected overload is less than or equal to a predetermined value (step-).

In a robot having a first rotary shaft and a second rotary shaft driven by respective motors and extending in the same direction, the second rotary shaft is rotated while vibrating the first rotary shaft that is holding a load directly or indirectly, thereby rotating the first rotary shaft relative to a load. This enables calculating the gravitational torque of the load applied to the first rotary shaft.

Method for controlling robot

A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.

Robot controlling method and welding method

A first acquisition unit acquires first data on first malfunction of a robot. A second acquisition unit acquires second data on second malfunction of the robot. A first determination unit determines whether or not to store the first data in accordance with the first data. A second determination unit determines whether or not to store the second data in accordance with the second data. A memory stores the first data and the second data. A controller stores the first data in the memory at a first period when the first determination unit determines to store the first data. The controller further stores the second data in the memory at a second period longer than the first period, when the first determination unit determines not to store the first data and the second determination unit determines to store the second data.

Data storage device, robot system, and data storage method

An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of a robot from a torque output to a gear reducer by a motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold.

Robot collision detection method

A disclosed motor control device includes: a PI controller which controls a velocity of a motor; an input unit which receives specification information including information of a weight and a center of mass of a tool; a calculation unit which calculates a gravitational torque based on the specification information; a storage which stores the gravitational torque output from the calculation unit and an integral value output from the PI controller, and outputs the gravitational torque and the integral value in response to a break signal; and a selection unit which sets, to the PI controller, the integral value output from the storage, according to a collision sensitivity input from the input unit.

Motor control device

A motor control device includes a movement command generation unit, a movement command processing unit, and a control unit. The movement command generation unit outputs a movement command of a motor. The movement command processing unit includes a buffer, a filter, and a processing unit. The buffer holds the movement command. The filter performs filter processing of a constant and generates a new constant. The processing unit performs arithmetic processing based on the movement command held in the buffer and the new constant generated by the filter, and generates and outputs a new movement command proportional to the new constant. The control unit controls the motor based on the new movement command.

Motor control device, motor position control method, and industrial machine

A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1&#xb7;z+b2&#xb7;z)/{1&#x2212;(a1&#xb7;z+a2&#xb7;z)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.

In sensor-less collision detection of a robot, a conventional method for displaying abnormality of the robot makes an abnormality display of 'collision detected' when a collision is erroneously detected, and does not clarify the situations under which the collision has been erroneously detected. In a method for displaying abnormality of a robot, when a collision of the robot is detected and the collision detection is displayed, at least one abnormality display is selected from a plurality of abnormality detection items different from collision detection. This can offer information useful for the user to understand the situations at occurrence of the erroneous collision detection.

Growing community of inventors

Osaka, Japan

Hiroyuki Nakata