Kobe Steel, Ltd.

Yoshihide Inoue

Shuichi Inada

Takashi Wada

Yoshiharu Nishida

Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device () that carries out position control for an arm (), which carries out periodic movement, while compensating for backlash in the arm () is provided with a control unit () that adds to a position instruction signal, which gives instructions for the position of the arm (), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm () on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.

Control method and control device

This control device () for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (), an axial force torque calculation unit (), a first dynamic characteristic computing unit (), a feedback control unit (), and a motor angle command value calculation unit (). The first dynamic characteristic computing unit () is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.

Elastic deformation compensation control device for articulated robot

In an elastic-deformation-compensation control device (), a first dynamic characteristic calculation unit () performs filtering processing with respect to a motor-angle command value (&#x3b8;mc) outputted from a motor-angle-command-value calculation unit (), and outputs a processed motor-angle target value (&#x3b8;md). A second dynamic characteristic calculation unit () is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (), performs filtering processing with respect to the output from an axial force torque calculation unit (), and outputs a processed axial force torque compensation value (fd).

Elastic-deformation-compensation control device and control method for articulated robot

A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.

Weaving control device for articulated robot

In a trajectory control device () for an articulated robot, a first dynamic characteristic calculation unit () is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (&#x3b8;c), and outputs a processed joint-angle target value (&#x3b8;d). A second dynamic characteristic calculation unit () is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (), and outputs a processed coupling-torque compensation value (cd).

Trajectory control device and control method for articulated robot

An arc welding system according to the present invention includes a welding power supply for supplying welding power to a welding wire, a welding robot including a welding torch mounted to an arm fore end thereof, and a controller for controlling the welding power supply and the welding robot. The welding power supply and the controller perform communication using digital signals, and the welding power supply outputs, to the controller, a welding power-supply feedback signal obtained at the time of inputting of a welding power-supply sync signal. With that configuration, accurate arc tracking can be realized by using the digital signals.

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Fujisawa, Japan

Yoshihide Inoue