JP2013121625A5 - Robot equipment - Google Patents
Robot equipment Download PDFInfo
- Publication number
- JP2013121625A5 JP2013121625A5 JP2011269886A JP2011269886A JP2013121625A5 JP 2013121625 A5 JP2013121625 A5 JP 2013121625A5 JP 2011269886 A JP2011269886 A JP 2011269886A JP 2011269886 A JP2011269886 A JP 2011269886A JP 2013121625 A5 JP2013121625 A5 JP 2013121625A5
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- JP
- Japan
- Prior art keywords
- arm
- weight
- tact time
- calculated
- angular velocity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Claims (3)
前記アームの角度を検出する角度センサーと、
前記アームに設けられたジャイロセンサーと、
前記アームに設けられ、被作業物を保持する保持部と、
前記保持部によって保持される前記被作業物の重量を取得する重量取得部と、を備え、
前記ジャイロセンサーの出力から演算された前記アームのタクトタイムが、前記重量に基づくタクトタイム規定値を超えた場合に、前記角度センサーの出力から演算される第１角速度と、前記ジャイロセンサーの出力から演算される第２角速度との差から演算される第３角速度にかけるゲインを減らす、
ことを特徴とするロボット装置。 Arm,
An angle sensor for detecting the angle of the arm ;
A gyro sensor provided on the arm ;
A holding portion that is provided on the arm and holds a work;
And a weight obtaining unit obtains the weight of the object to be work object held by the hold unit,
The tact time of Kia over beam before computed from the output of the gyro sensor, if it exceeds the tact time prescribed value based on said weight, and the first angular velocity is calculated from the output of the angle sensor, the gyro sensor to reduce the gain applied from the output to the third angular velocity is calculated from the difference between the second angular velocity is calculated,
A robot apparatus characterized by that.
ことを特徴とする請求項１に記載のロボット装置。 And overshoot comparison result obtained by comparing the overshoot and overshoot specified value of the A over arm, and the tact time and compared to comparing the tact time prescribed value based on the weight results, controlling the arm ,
The robot apparatus according to claim 1.
ことを特徴とする請求項１または２に記載のロボット装置。 The weight obtaining unit is a haptic sensor,
The robot apparatus according to claim 1 or 2, wherein
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011269886A JP5929150B2 (en) | 2011-12-09 | 2011-12-09 | Robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011269886A JP5929150B2 (en) | 2011-12-09 | 2011-12-09 | Robot device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016086845A Division JP6137379B2 (en) | 2016-04-25 | 2016-04-25 | Robot equipment |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2013121625A JP2013121625A (en) | 2013-06-20 |
| JP2013121625A5 true JP2013121625A5 (en) | 2015-01-15 |
| JP5929150B2 JP5929150B2 (en) | 2016-06-01 |
Family
ID=48773924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2011269886A Active JP5929150B2 (en) | 2011-12-09 | 2011-12-09 | Robot device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5929150B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6512790B2 (en) * | 2014-10-24 | 2019-05-15 | キヤノン株式会社 | Robot control method, robot apparatus, program, recording medium, and article manufacturing method |
| DE102015214170A1 (en) | 2015-07-27 | 2017-02-02 | Kuka Roboter Gmbh | Robot with a force measuring device |
| JP6836544B2 (en) * | 2018-05-09 | 2021-03-03 | ファナック株式会社 | Control system and driven body control method |
| JP6875329B2 (en) * | 2018-06-26 | 2021-05-19 | ファナック株式会社 | Robot system that performs learning control |
| JP7247571B2 (en) * | 2018-12-17 | 2023-03-29 | 京セラドキュメントソリューションズ株式会社 | Control device and learning device |
| JP7404627B2 (en) * | 2019-03-13 | 2023-12-26 | セイコーエプソン株式会社 | Robot system, control device, and control method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04294990A (en) * | 1991-03-20 | 1992-10-19 | Fujitsu Ltd | Control method for robot |
| JPH07261844A (en) * | 1994-03-23 | 1995-10-13 | Matsushita Electric Ind Co Ltd | Motor control unit |
| JP2001092511A (en) * | 1999-09-17 | 2001-04-06 | Kawasaki Heavy Ind Ltd | Control gain adjusting device for robot or the like |
| JP2010284758A (en) * | 2009-06-12 | 2010-12-24 | Seiko Epson Corp | Robot controller and robot control method |
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2011
- 2011-12-09 JP JP2011269886A patent/JP5929150B2/en active Active
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