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1. 发明申请

WO1993009920A1 ROBOT CONTROL METHOD AND APPARATUS 审中-公开
标题翻译：机器人控制方法和装置
公开(公告)号：WO1993009920A1
公开(公告)日：1993-05-27
申请号：PCT/JP1992001512
申请日：1992-11-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TOUNAI, Shuichi , NISHI, Masanori , OKAMURA, Kunihiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J13/00
CPC分类号： B25J9/1641 , G05B2219/39179 , G05B2219/42231 , G05B2219/45083 , G05B2219/49289
摘要： A method of controlling a robot having shafts of one or more degrees of freedom, wherein at least one of these shafts, on which a dynamic load works, is driven by servomotor via a speed reducer. When the robot is stopped, the shaft on which a dynamic load works is moved in the direction in which the load works, and then stopped. This invention is based on the fact that the transmission efficiency (positive efficiency) of the speed reducer from the servomotor to an arm (shaft) is the reciprocal of the transmission efficiency (inverse efficiency) of the speed reducer from the arm to the servomotor. The condition of transmission of a load from an arm to the servomotor is generated forcibly, and the load is balanced with the torque generated by the servomotor, whereby the consumption of power and heat dissipation are reduced. Consequently, a load on the servomotor during the stoppage of the arm decreases, and power consumption becomes smaller, heat dissipation also decreasing. The reduction of the capacity of the servomotor also becomes possible.
摘要翻译：一种控制具有一个或多个自由度的轴的机器人的方法，其中动态负载工作的这些轴中的至少一个由伺服电动机通过减速器驱动。当机器人停止时，动态负载工作的轴沿负载工作方向移动，然后停止。本发明是基于以下事实：减速器从伺服电动机到臂（轴）的传动效率（正效率）是减速器从臂向伺服电动机的传动效率（反效率）的倒数。强制地产生从臂向伺服电动机传递负载的状态，并且负载与由伺服电动机产生的转矩平衡，从而减少功率消耗和散热。因此，在臂停止期间伺服电动机上的负载减小，功耗变小，散热也降低。伺服电动机的容量的降低也变得可能。

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