The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 25, 2001
Filed:
Nov. 24, 1999
Kabushiki Kaisha Yaskawa Denki, Kitakyushu, JP;
Abstract
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.