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:
Oct. 06, 2015
Filed:
Mar. 11, 2014
Kabushiki Kaisha Yaskawa Denki, Kitakyushu-shi, JP;
Yosuke Kamiya, Fukuoka, JP;
KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu-Shi, JP;
Abstract
A robot system includes a robot and a robot control device. The robot has a plurality of joint axes including a redundant axis. The robot control device includes a first command generator, a limit avoidance command generator, a posture optimization command generator, a null space matrix calculator, a second command generator and a controller. The first command generator generates a first joint angular speed command for the robot. The limit avoidance command generator generates a joint angular speed command A for the robot for avoiding a state in which the robot reaches an operating limit. The posture optimization command generator generates a joint angular speed command B for the robot for optimizing a posture of the robot. The null space matrix calculator calculates a null space matrix of a Jacobian matrix related to a control point. The second command generator generates a second joint angular speed command for the robot.