JP6500492B2 - ロボット制御装置 - Google Patents
ロボット制御装置 Download PDFInfo
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- JP6500492B2 JP6500492B2 JP2015035781A JP2015035781A JP6500492B2 JP 6500492 B2 JP6500492 B2 JP 6500492B2 JP 2015035781 A JP2015035781 A JP 2015035781A JP 2015035781 A JP2015035781 A JP 2015035781A JP 6500492 B2 JP6500492 B2 JP 6500492B2
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Description
11 ヤコビ行列計算部
12 角速度計算部
13 積分器
14 順運動学計算部
21 微分器
22 加算器
23 係数行列乗算器
24 加算器
Claims (1)
- 関節の自由度がアームの先端の自由度よりも高い冗長ロボットを制御するロボット制御装置であって、
前記アームの位置及び姿勢を示すアーム指令値に基づき目標速度ベクトルを算出する目標速度ベクトル計算部と、
前記関節の現在の関節角度ベクトルからヤコビ行列を算出するヤコビ行列計算部と、
前記関節を動かすモータのトルクを計測したトルクセンサ計測値を取得し、前記トルクセンサ計測値に基づき重み行列を算出し、当該重み行列と、前記目標速度ベクトルと、前記ヤコビ行列とを用いて、前記トルクセンサ計測値と前記関節の角速度との積から算出されるエネルギーの時間変化率と、所定の消散パラメータと、の差分を最小化する前記関節の角速度を算出する角速度計算部と、
前記角速度計算部にて算出された前記角速度を積分して前記関節に指令値として与える関節角度ベクトルを生成する積分器と、
を有するロボット制御装置。
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JP2016155203A JP2016155203A (ja) | 2016-09-01 |
JP6500492B2 true JP6500492B2 (ja) | 2019-04-17 |
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JP2015035781A Active JP6500492B2 (ja) | 2015-02-25 | 2015-02-25 | ロボット制御装置 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111538949B (zh) * | 2020-07-10 | 2020-10-16 | 深圳市优必选科技股份有限公司 | 冗余机器人逆运动学求解方法、装置和冗余机器人 |
CN114469642B (zh) * | 2022-01-20 | 2024-05-10 | 深圳华鹊景医疗科技有限公司 | 康复机器人控制方法、装置及康复机器人 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH1058361A (ja) * | 1996-08-16 | 1998-03-03 | Mitsubishi Heavy Ind Ltd | マニピュレータの制御装置 |
WO2011106239A1 (en) * | 2010-02-25 | 2011-09-01 | Honda Motor Co., Ltd. | Constrained resolved acceleration control |
US9261872B2 (en) * | 2012-01-19 | 2016-02-16 | Mitsubishi Electric Research Laboratories, Inc. | System and method for controlling redundant actuators of a machine |
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