Kabushiki Kaisha Yaskawa Denki

Kabushiki Kaisha Yaskawa Denki Seisakusho

Toshiyuki Kurebayashi

Yasuyuki Inoue

Hideo Nagata

Ken'ichi Yasuda

Tatsuya Fukunaga

Osamu Hidaka

Satoshi Kuranaga

A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for controlling a motor for driving a joint by a control circuit having a position/speed state feedback loop, has a mechanism for measuring the angle of a joint of a robot, a mechanism for storing the initial posture of a tool attached to the end of a hand of the robot, a mechanism for setting the position or speed gain of a specific joint axis smaller than the position or speed gains of the other joint axes, and a mechanism for calculating the correction of a position or speed command to keep the tool posture with respect to the robot base on the basis of the angle of the joint and the initial posture of the tool.

Robot controller

Control method for robots

Growing community of inventors

Kitakyushu, Japan

Toshiyuki Kurebayashi