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    • 96. 发明授权
    • Robot control apparatus
    • 机器人控制装置
    • US08489238B2
    • 2013-07-16
    • US13677761
    • 2012-11-15
    • Junichiro OogaJunji OakiHideki Ogawa
    • Junichiro OogaJunji OakiHideki Ogawa
    • G05B19/04G05B19/18
    • B25J9/02B25J9/1633G05B19/423
    • A robot control apparatus according to an embodiment includes: a joint angle difference calculator calculating a joint angle difference; a torque command value calculator calculating a torque command value for a joint, based on the joint angle difference; an external torque calculator calculating an external torque that is a difference between the estimated drive torque and the torque command value, and determining an external force receiving joint shaft on which an external force from the external torque acts; a compliance model storage unit storing a compliance model at the external force receiving joint shaft; a compliance correction amount calculator calculating a compliance correction amount for a task coordinate system position at the external force receiving joint shaft in accordance with the external force; and a joint angle difference correction amount calculator calculating a joint angle difference correction amount from the compliance correction amount and the partial Jacobian matrix.
    • 根据实施例的机器人控制装置包括:关节角度差计算器,计算关节角度差; 转矩指令值计算器,基于所述关节角度差来计算接头的转矩指令值; 计算作为所述推定驱动转矩与所述转矩指令值之间的差的外部转矩的外部转矩计算器,以及确定外部转矩作用的外力的外部受力接头轴; 在所述外力接收接头轴处存储顺应性模型的顺应性模型存储单元; 顺应性校正量计算器,根据外力计算外力受力接头轴上的任务坐标系位置的柔量修正量; 以及关节角度差校正量计算器,从柔度修正量和部分雅可比矩阵计算关节角度差校正量。
    • 97. 发明授权
    • Robot controlling device
    • 机器人控制装置
    • US08428779B2
    • 2013-04-23
    • US13397741
    • 2012-02-16
    • Junichiro OhgaJunji OakiHideki Ogawa
    • Junichiro OhgaJunji OakiHideki Ogawa
    • G05B19/18
    • B25J9/1633G05B2219/39325
    • A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount.
    • 机器人控制装置包括:位置误差计算器,计算机器人的端点位置与端点位置的位置指令值之间的位置误差; 计算施加到端点位置的外力的外力计算器; 力指令值发生器产生用于所述端点位置的力命令值; 计算外力与力指令值之间的力误差的力误差计算器; 存储用于端点位置的合规性模型的存储器; 第一校正量计算器,使用所述合规模型,根据所述力误差计算所述位置指令值的第一校正量; 以及第二校正量计算器,基于第一校正量的一阶滞后补偿来计算位置指令值的第二校正量。 位置误差计算器使用第二校正量来计算位置误差。
    • 98. 发明申请
    • ROBOT CONTROL APPARATUS
    • 机器人控制装置
    • US20130073084A1
    • 2013-03-21
    • US13677761
    • 2012-11-15
    • Junichiro OogaJunji OakiHideki Ogawa
    • Junichiro OogaJunji OakiHideki Ogawa
    • B25J9/02
    • B25J9/02B25J9/1633G05B19/423
    • A robot control apparatus according to an embodiment includes: a joint angle difference calculator calculating a joint angle difference; a torque command value calculator calculating a torque command value for a joint, based on the joint angle difference; an external torque calculator calculating an external torque that is a difference between the estimated drive torque and the torque command value, and determining an external force receiving joint shaft on which an external force from the external torque acts; a compliance model storage unit storing a compliance model at the external force receiving joint shaft; a compliance correction amount calculator calculating a compliance correction amount for a task coordinate system position at the external force receiving joint shaft in accordance with the external force; and a joint angle difference correction amount calculator calculating a joint angle difference correction amount from the compliance correction amount and the partial Jacobian matrix.
    • 根据实施例的机器人控制装置包括:关节角度差计算器,计算关节角度差; 转矩指令值计算器,基于所述关节角度差来计算接头的转矩指令值; 计算作为所述推定驱动转矩与所述转矩指令值之间的差的外部转矩的外部转矩计算器,以及确定外部转矩作用的外力的外部受力接头轴; 在所述外力接收接头轴处存储顺应性模型的顺应性模型存储单元; 顺应性校正量计算器,根据外力计算外力受力接头轴上的任务坐标系位置的柔量修正量; 以及关节角度差校正量计算器,从柔度修正量和部分雅可比矩阵计算关节角度差校正量。