Seiko Epson Corporation

Isamu Sejimo

Kesatoshi Takeuchi

Izumi Iida

Daisuke Sato

Takafumi Suzuki

Masaru Takahashi

Mamoru Sugimoto

Kaoru Takeuchi

Takema Yamazaki

Nobuhiro Karito

Kazuyoshi Nakamura

Munenori Sawada

Shigenori Sasai

Provided is a method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm. The method includes a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector, a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step, and a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.

Method for controlling robot, robot system, and storage medium

A robot system includes a robot configured to operate in cooperation with a person, a specifying section configured to specify a person present in a region at a predetermined distance from the robot, and a control section configured to decelerate or stop the operation of the robot when the presence of the person in the region is specified by the specifying section. The control section changes the distance based on a result of specifying the person by the specifying section.

Robot system

A robot system includes a robot collaboratively acting with a human, a force sensor provided in the robot and detecting a force, a control unit decelerating or stopping an action of the robot based on output from the force sensor, a first temperature sensor detecting a temperature of the force sensor, and an execution unit performing warm-up operation in the robot until output from the first temperature sensor reaches a first target value.

Robot system, control apparatus, and control method for robot

A control device includes a control unit which executes a control force to a movable unit according to an output of a force detection unit. The control unit executes a stop control of the movable unit when a predetermined stop condition is satisfied. The stop control includes a second control which continues the force control to control the movable unit when the stop condition is satisfied during the execution of a first control including a force control.

Control device, robot system, and robot

When a predetermined stop condition is satisfied when a movable unit is in contact with an object in force control, a control apparatus stops the movable unit, and, when a predetermined restart condition is satisfied after stoppage of the movable unit, the control apparatus executes separation control to separate the movable unit from the object, and then, executes resetting of the force detection unit and restarts the force control after execution of the resetting. In another aspect, when a predetermined stop condition is satisfied when the movable unit is in contact with an object in the force control, the control apparatus performs separation control to separate the movable unit from the object, and then, stops the movable unit, and, when a predetermined restart condition is satisfied after stoppage of the movable unit, the control apparatus executes resetting of the force control, and then, restarts the force control.

Control apparatus, robot system, and control method

A robot controlled by a controller includes a recording part that records sensor information on a sensor, and a transmission part that transmits the sensor information to the controller or an external apparatus.

Robot, robot system and server

A robot includes a robot arm, a drive unit that drives the robot arm, a first control unit that controls drive of the drive unit, a plurality of detection units at least one of which is an angular velocity sensor as an inertial sensor, and a wiring unit that series-connects the plurality of detection units and the first control unit.

Robot, controller, and robot system

A motor control device controls a motor using an angle data signal and a rotational speed signal output from a rotation detector detecting a rotation state of a rotating shaft of the motor. The motor control device includes a speed control unit that outputs a torque instruction signal corresponding to a difference between the rotational speed of the rotating shaft and a speed instruction using the speed instruction of the rotating shaft and the rotational speed signal, a limit value setting unit that sets a torque limit value indicating the maximum value of the torque applied to the rotating shaft, and a torque limit control unit that limits the torque of the rotating shaft driven by the torque instruction signal to the torque limit value or less.

Motor control device, robot hand, robot, and motor control method

An electric motor control device includes a control section adapted to control supply of a drive current to an electric motor, and a rotational speed detection section adapted to detect a rotational speed of the electric motor, the drive current includes a d-axis current and a q-axis current, and the control section calculates a q-axis current command value based on a torque command value to the electric motor, calculates a d-axis current command value using a difference between the rotational speed of the electric motor and a previously determined base rotational speed of the electric motor, and the q-axis current command value, and performs vector control on the electric motor using the d-axis current command value and the q-axis current command value.

Electric motor control device

The drive control circuit for an electric motor is provided. The drive control circuit includes: an original drive signal generator that generates an original drive signal; an excitation interval setter that is able, for each half cycle of respective length &#x3c0; in each 2&#x3c0; excitation cycle of the original drive signal, to arbitrarily set excitation intervals during which to excite coils of the electric motor to any one of a plurality of intervals which include at least either one of a symmetrical interval centered on a center of each half-cycle and an unsymmetrical interval; and a drive signal shaping circuit that generates a drive signal for driving the electric motor, by validating the original drive signal during the excitation intervals and invalidating the original drive signal during non-excitation intervals other than the excitation interval.

Robot

The brushless motor has a first and second drive member. The first drive member is equipped with M phase coil groups each having N electromagnetic coils where M is an integer of 1 or greater and N is an integer of 1 or greater. The second drive member has a plurality of permanent magnets, and is able to move relative to the first drive member. The first drive member has 2 (M&#xd7;N) magnetic body cores. Each phase electromagnetic coil is coiled on a periodically selected magnetic body core at a ratio of 1 to 2M from among the arrangement of 2 (M&#xd7;N) magnetic body cores.

Brushless motor

A brushless motor includes: a permanent magnet; a driving coil moving relative to the permanent magnet; a sensor coil disposed to the permanent magnet so as to generate a sensor coil induced voltage having a same phase of a driving coil induced voltage generated in the driving coil; and a driving circuit applying a driving voltage to the driving coil, the driving voltage having a same phase of the sensor coil induced voltage generated in the sensor coil.

Growing community of inventors

Matsumoto, Japan

Isamu Sejimo