Other

Kabushiki Kaisha Yaskawa Denki

Masao Ojima

Kanji Takanishi

Ryuichi Oguro

Hirokazu Kariyazaki

Nobuhiro Umeda

Yutaro Uchida

Kazuo Fujino

Hidenori Tomisaki

A control systemincludes a first controller, and a second controller. The second controller includes a program storage module that stores two or more coordinate conversion programs, and a control processing modulethat acquires program designation information for designating one of two or more coordinate conversion programs from the first controller. Additionally, the control processing module may acquire a first operation command in the coordinate system for the first controller from the first controller, and convert the first operation command to an operation target value of two or more joint axes of a multi-axis robot using the coordinate conversion programs according to the program designation information. Driving power according to the operation target value may be output to the joint axes.

Controller, control system, and control method

The control system includes a first controller, a second controller, and a third controller. The third controller includes a first communication module, a second communication module, and a control processing module configured to output a first operation command for operating the first controlled object to the first controller via the first communication module, configured to output a second operation command for operating the second controlled object to the second controller via the second communication module, configured to switch a mode between a normal control mode and a synchronous control mode, and configured to output, to the second controller via the second communication module, a command to decrease the second gain during at least part of a period of the synchronous control mode as compared with the normal control mode.

The control system includes a first controller, a second controller, and a third controller. The third controller includes a first communication module, a second communication module, and a control processing module configured to output a first operation command for operating the first controlled object to the first controller via the first communication module, configured to output a second operation command for operating the second controlled object to the second controller via the second communication module, configured to acquire information on a current position of the first controlled object from the first controller via the first communication module, and configured to correct the second operation command on a basis of information on the current position of the first controlled object.

When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (,) is supplied with position commands X,, X,with respect to the electric motors and outputs model motor position commands &thgr;,, &thgr;,, model motor speed commands {dot over (&thgr;)},, {dot over (&thgr;)},, and model feed-forward commands U,, U,to feedback controllers (,) which actuate and control the electric motors and the robot arms. The model controller (,) includes therein corrective quantity calculators (,) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. The model controller (,) outputs the model feed-forward commands with the corrective quantities added thereto.

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Fukuoka, Japan

Masao Ojima