Kawasaki Jukogyo Kabushiki Kaisha

Junichi Okuno

Shinji Kajihara

A deflection amount estimating device is provided for estimating an amount of deflection of a four-bar linkage structure part of a robotic arm. The four-bar linkage structure part swings in a given angle range. The deflection amount estimating device comprises processing circuitry configured to calculate a swing angle of the four-bar linkage structure part; calculate a load received by the four-bar linkage structure part, determine a stiffness value, corresponding to the swing angle of the four-bar linkage structure part, based on a stiffness-value determining function indicating a correlation between the stiffness value and the swing angle of the four-bar linkage structure part, the stiffness value indicating a value of each element in a stiffness matrix associating the load with the amount of deflection of the four-bar linkage structure part; and calculate the amount of deflection of the four-bar linkage structure part based on the load and the stiffness matrix.

Deflection amount estimating device, robot control device and method of estimating amount of deflection

An angular transmission error identification system that identifies an angular transmission error of a speed reducer of a robot arm including a joint that is rotationally driven by a motor via the speed reducer, including an identification unit that calculates amplitude and phase parameters of an angular transmission error identification function, which is a periodic function that models an angular transmission error of the speed reducer and has the parameters, and identifies the error using the function, wherein the unit calculates an amplitude parameter corresponding to a gravitational torque current value which is a value acting on a joint when the error is identified using a first or second amplitude function according to a value of the gravitational torque current value, and calculates a phase parameter corresponding to the gravitational torque current value using a first or second phase function according to a value of the gravitational torque current value.

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Akashi, Japan

Junichi Okuno