JPS6020214A - Servo device of robot - Google Patents

Servo device of robot

Info

Publication number
JPS6020214A
JPS6020214A JP12761783A JP12761783A JPS6020214A JP S6020214 A JPS6020214 A JP S6020214A JP 12761783 A JP12761783 A JP 12761783A JP 12761783 A JP12761783 A JP 12761783A JP S6020214 A JPS6020214 A JP S6020214A
Authority
JP
Japan
Prior art keywords
signal
servo motor
robot
servo device
output
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.)
Granted
Application number
JP12761783A
Other languages
Japanese (ja)
Other versions
JPH057727B2 (en
Inventor
Haruaki Otsuki
治明 大槻
Yasuyoshi Hamada
康義 浜田
Daijiro Ida
井田　大二郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP12761783A priority Critical patent/JPS6020214A/en
Publication of JPS6020214A publication Critical patent/JPS6020214A/en
Publication of JPH057727B2 publication Critical patent/JPH057727B2/ja
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37388—Acceleration or deceleration, inertial measurement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To make the amplitude of resonance and the residual vibration of a low rigidity arm by detecting an angular acceleration signal of the output shaft reduction gear of a servo motor, obtaining the angular acceleration signal by integration and feeding back this signal to a controlling section. CONSTITUTION:A target value signal from a target value signal generator 22 is inputted to a relational operating section 17 and after D/A conversion 16, inputted to an analog operating circuit 15. The output of the circuit 15 is amplified 14 to drive a servo motor 4. A speed of the shaft of the servo motor 4 is reduced and connected to the shaft of an upper arm. An encoder 12, and a tacho-generator 13 are attached to the servo motor 4, and the output of the tacho-generator 13 is preamplified 23 and inputted to the analog operating circuit 15 to feedback angular velocity of the servo motor 4. The output of the encoder 12 is directionally discriminated 24, counted 18 and fed back to the relational operating section 17. The output of the acceleration detector 7 in the upper arm 2 attains a vibration acceleration signal through an amplifier 12 and a filter 20, integrated to attain a speed signal and inputted to the circuit 15, and damps the vibration of the upper arm to reduce the amplitude of resonance and vibration.

Description

【発明の詳細な説明】 〔発明の利用分野〕 本発明は、ロボットのサーボ装置に係り、特に剛性の低
い伝動装置を介してアームｔ−駆動する構成の機構部を
有する場合に好適なロボットのサーボ装置に係る。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a servo device for a robot, and particularly to a robot servo device suitable for use when the robot has a mechanical section configured to drive an arm via a transmission device with low rigidity. Related to servo devices.

〔発明の背景〕[Background of the invention]

一般に、電動式のロボットでは、アームを駆動するため
に必要なトルクを得るために、サーボモータから減速機
全弁してアームを駆動する構成がとられている。この減
速機の剛性が不充分であると、アームの持つ慣性と結び
ついて定まる固有振動数が低い値となる。減速機におい
て発生する加振力の振動数が、上記固有振動数と一致す
ると共振状態となるが、加振力の振動数はモータの回転
速度に比例し、したがってアームの速度に比例する。固
有振動数が低いときには、アームの動作速度が低くても
共振状態があられれてしまい、ロボットの動作中にアー
ムが振動するという間ｆｆ１ｔ生ずることがある。Generally, in an electric robot, in order to obtain the torque necessary to drive the arm, the arm is driven by a servo motor using a full speed reducer. If the rigidity of this speed reducer is insufficient, the natural frequency determined by the inertia of the arm will be a low value. When the frequency of the excitation force generated in the reduction gear matches the above-mentioned natural frequency, a resonance state occurs, but the frequency of the excitation force is proportional to the rotational speed of the motor, and therefore proportional to the speed of the arm. When the natural frequency is low, a resonance state may occur even if the operating speed of the arm is low, and ff1t may occur while the arm vibrates during robot operation.

一般゛に、共振の振幅を抑制するには、振動系に対して
ダンピング作用を付加することが有効である。このため
の方策として、機械的なダンパを取り付ける方法もある
が、機構部が大きくなるという問題をもっている。これ
に対し、サーボ装置においては、サーボモータに対する
操作信号を調整し、等測的にダンピング効果を実現する
ことができる。例えば、特公昭５５−２１３６４には、
モータによりワイヤ又はベルトを介して移動体を駆動す
るサーボ装置の構成が示されている。この発明において
は、モータ！１Ｉｌｌ１％移動体の双方に回転側発電機
が取り付けられており、双方の出力信号がモータの回転
速度制御回路にフィードバックされている。このような
構成によって１．可動体の伸縮。Generally, in order to suppress the amplitude of resonance, it is effective to add a damping effect to the vibration system. As a measure for this purpose, there is a method of attaching a mechanical damper, but this method has the problem of increasing the size of the mechanical part. In contrast, in a servo device, the damping effect can be achieved isometrically by adjusting the operation signal to the servo motor. For example, in Special Publication No. 55-21364,
The configuration of a servo device that drives a moving body by a motor via a wire or a belt is shown. In this invention, the motor! Rotation-side generators are attached to both sides of the 1Ill1% moving body, and output signals from both are fed back to the rotational speed control circuit of the motor. With this configuration, 1. Expansion and contraction of movable bodies.

振動ヲ幹減するものである。しかし、産欝用ロボットの
サーボ装置にこのような構成を適用しようとすると、い
くつかの問題が生ずる。すなわち、アームの動作速度が
低いため、減速機の出力側に回転計発電機を取り付けて
も、充分なレベルの４４号が得られない。この問題ヶ避
けるため、増速機構を介して回転ｉｔ発電ＩｉＱを取り
付けると、増速機構のもつ非線形性により、得られる検
出１ｒ；号が劣化する。一方、電気的に増幅しても、リ
ップルノイズの影響が大きい。It reduces vibration. However, when trying to apply such a configuration to a servo device for a labor robot, several problems arise. That is, since the operating speed of the arm is low, even if a tachometer generator is attached to the output side of the reducer, a sufficient level of No. 44 cannot be obtained. In order to avoid this problem, if the rotating IT power generation IiQ is installed via a speed increasing mechanism, the obtained detection signal 1r will deteriorate due to the nonlinearity of the speed increasing mechanism. On the other hand, even if it is electrically amplified, the influence of ripple noise is large.

また、特開昭５８−３００１にね１．モータにより、剛
性の低い減速機を介してアーム１８：駆動するけポット
において、Ｉ−ムの加速度を検出し、関数発生部におい
て出力される目標加速度に追従させるサーボ装置が明ら
かにされている。しかし、この方式ではオブザーバ管用
いているため、関節杉ロボットに見られる動特性パラメ
ータの変動に対しては、推定値の精度が保証さｉ７ない
という欠点がある。Also, in JP-A-58-3001, 1. A servo device has been disclosed that detects the acceleration of the arm 18 in a socket driven by a motor via a low-rigidity reduction gear and makes it follow the target acceleration output from a function generator. However, since this method uses an observer tube, there is a drawback that the accuracy of the estimated value is not guaranteed against fluctuations in the dynamic characteristic parameters seen in the jointed cedar robot.

〔発明の目的〕[Purpose of the invention]

本発明の目的は、共振点での振幅を抑制し、良好な運動
特性金持つロボットのサーボ装置を枦供することにある
。An object of the present invention is to provide a servo device for a robot that suppresses the amplitude at the resonance point and has good motion characteristics.

〔発明の概要〕[Summary of the invention]

本発明の特徴とするところは、ロボットのアームの角速
度を検出し、これ全サーボ装置の制御部に帰還するルー
プを設けることによ０、アームの振動に対してダンピン
グ効果金持たせるようにしたものである。The feature of the present invention is that it detects the angular velocity of the robot's arm and provides a loop that returns this to the control section of all servo devices, thereby providing a damping effect against the vibration of the arm. It is something.

〔発明の実施例〕[Embodiments of the invention]

以下、本発明の実施例を図を用いて説明する。 Embodiments of the present invention will be described below with reference to the drawings.

第１図（は本発明の装置全適用した多関節形のロボット
金示すものである。この第１図において、旋回部ＩＶよ
内蔵されたモータにより回転する。上腕部２及び前腕部
３は、各々モータ４及びモータ５により駆動される。こ
れら旋回部Ｊ１上腕部２及び前腕部３には、加速度検出
器６、加速度検出器７％加速度検出器８が各々取り付け
られており、各部の角加速度はこれらによって検出され
る。この実施例では、これらの旋回部１、上腕部２、前
腕部３の３つのサーボ装置に本発明を適用しｔ場　−合
を示している。FIG. 1 shows a multi-jointed robot in which the device of the present invention is fully applied. In FIG. 1, the rotating section IV is rotated by a built-in motor. They are driven by a motor 4 and a motor 5, respectively.An acceleration detector 6 and a 7% acceleration detector 8 are attached to the rotating part J1, upper arm part 2, and forearm part 3, respectively, and the angular acceleration of each part is This embodiment shows a case in which the present invention is applied to three servo devices: the rotating section 1, the upper arm section 2, and the forearm section 3.

第２図は第１図に示した実施例のなかで、上腕部２のサ
ーボ装置の構成を図示したブロック図である。目標値発
生器２２からの目標１１６信号は、比較演算部１７に入
力される。その出力ボートにはＤＡ変換器１６が接続さ
れていて、後段のアナログ演算回路１５に信号を供給す
る。アナログ（′Ｒ智回路１５の出力信号は、電力増幅
器１４で増幅されて、サーボモータ４を駆動する。サー
ボモータ４の軸は、減速機１１を介して上腕２の軸に結
合されている。サーボモータ４の後端には、エンコーダ
１２及びタコジェネレータ１３が取り付けられている。FIG. 2 is a block diagram illustrating the configuration of the servo device for the upper arm portion 2 in the embodiment shown in FIG. 1. The target 116 signal from the target value generator 22 is input to the comparison calculation section 17. A DA converter 16 is connected to the output port, and supplies a signal to the analog arithmetic circuit 15 at the subsequent stage. The output signal of the analog (R) circuit 15 is amplified by a power amplifier 14 to drive the servo motor 4. The shaft of the servo motor 4 is coupled to the shaft of the upper arm 2 via a speed reducer 11. An encoder 12 and a tacho generator 13 are attached to the rear end of the servo motor 4.

タコジェネレータ１３の出力信号は、前置増幅器２３を
経て、アナログ演算回路１５に入力され、サーボモータ
４０角速度のフイードバツクを実現する。また、エンコ
ーダ１２の出力パルスは、方向弁別回路２４を経て可逆
カウンタ１８で計数されて、比較演算部１７に入力され
、サーボモータ４の回転角のフィードバック全実現する
。The output signal of the tachogenerator 13 is input to the analog arithmetic circuit 15 via the preamplifier 23, thereby realizing feedback of the angular velocity of the servo motor 40. Further, the output pulses of the encoder 12 are counted by the reversible counter 18 via the direction discrimination circuit 24, and inputted to the comparison calculation section 17, thereby realizing complete feedback of the rotation angle of the servo motor 4.

上腕部２には、加速度検出器７が取り付けられている。An acceleration detector 7 is attached to the upper arm portion 2 .

この検出器７の出力信号はチャージアンプ２１を経て加
速度信号となる。加速度信号は、バイパスフィルタ２０
金経て、重力加速度の影響、他の関節の運動の影響等を
除去され、振動加速度信号となる。この信号は、積分回
路１９において積分されて速度信号となった後、アナロ
グ演算回路１５に入力され、上腕部の振動に関する速度
帰還によるダンピング効果が実現される。The output signal of this detector 7 passes through a charge amplifier 21 and becomes an acceleration signal. The acceleration signal is passed through the bypass filter 20
After that, the effects of gravitational acceleration and the movements of other joints are removed, resulting in a vibration acceleration signal. This signal is integrated in the integration circuit 19 to become a velocity signal, and then inputted to the analog calculation circuit 15 to achieve a damping effect due to velocity feedback regarding the vibration of the upper arm.

なお、この実施例では、さらに振動加速度信号全直接ア
ナログ演算回路１５に入力するフィードバック回路も付
加されている。In addition, in this embodiment, a feedback circuit for inputting the vibration acceleration signal directly to the all-analog calculation circuit 15 is also added.

ここで、比較演算部１７について１図を用いて構成及び
動作の説明を行う。Here, the configuration and operation of the comparison calculation section 17 will be explained using FIG.

第３図は本発明を構成する比較演算部１７の構成の一例
を示すブロック図である。第３図において、中央処理装
置１０１は、制御信号バス１０８に接続されるとともに
、アドレスラッチ１０２を介してアドレスバス１０６、
データバス１０７に接続されている。アドレスバス１０
６、データバス１０７、制御信号バス１０８により構成
されるパスラインには、データが格納されるＲＡＭ　１
０３、中央処理装置１０１において実行される命令群及
び初期値を格納しているＲＯＭ１０４、クロツクパルス
を発生するクロック１０５が接続されているｔｌか、目
標値信号全入力する入力ポートの機能を実現する入力イ
ンターフェース１１３、可逆カウンタ１８の内容を入力
する入力ポートの機能全実現する入力インターフェース
１１５．ＤＡ変換器４にデータを出力する出力ボートの
機ｆ１ヒケ実現する出力インターフェース１２２が接続
されている。FIG. 3 is a block diagram showing an example of the configuration of the comparison calculation section 17 constituting the present invention. In FIG. 3, a central processing unit 101 is connected to a control signal bus 108 and an address bus 106 via an address latch 102.
It is connected to data bus 107. address bus 10
6. A pass line composed of a data bus 107 and a control signal bus 108 includes a RAM 1 in which data is stored.
03. A ROM 104 that stores a group of instructions executed by the central processing unit 101 and initial values, a tl to which a clock 105 that generates clock pulses is connected, or an input that realizes the function of an input port that inputs all target value signals. An input interface 115 that realizes all the functions of an input port for inputting the contents of the interface 113 and the reversible counter 18. An output interface 122 is connected to realize the function f1 of the output boat that outputs data to the DA converter 4.

第４図は、本発明と構成する比較演算部１７における処
理内容を示すフローチャートである。第４図において、
一連の処理の開始２０１は、一定周期をもって発生する
クロックパルスによる割込みによる。第１図の処理内容
２０２は、目標信号発生器２２からの目標値データを入
力することを示す。第２の処理内容２０３は、直流サー
ボモータ７の回転角データを入力し、前記目標値データ
から上記回転角データを減算し、偏差データを算出する
ことを示す。第３の処理内容２０４は、偏差データ’に
、ＤＡ変換器１６の入力ビット数以内の値に飽和させ、
出力データを算出することを示す。第４の処理内容２０
５は、上記出力データを出力し、ＤＡ変換器１６に入力
することを示す。FIG. 4 is a flowchart showing the processing contents in the comparison calculation section 17 that constitutes the present invention. In Figure 4,
The series of processing starts 201 by an interrupt caused by a clock pulse that occurs at regular intervals. Process content 202 in FIG. 1 indicates that target value data from the target signal generator 22 is input. The second process content 203 indicates inputting the rotation angle data of the DC servo motor 7, subtracting the rotation angle data from the target value data, and calculating deviation data. The third processing content 204 is to saturate the deviation data' to a value within the number of input bits of the DA converter 16,
Indicates that output data is to be calculated. Fourth processing content 20
5 indicates that the above output data is output and input to the DA converter 16.

以上で、一連の処理を終了２０６する。With this, the series of processing ends 206.

第５図は、本発明の装置の他の実施例を示すもので、こ
の図において、第２図と同符号のものは同一部分である
。この実施例は、第２図に示す実施例に対して、振動加
速度信号及び速度信号の帰還ゲインを、モータの回転速
度に応じて変化させる回路全付加したものである。すな
わち、関数発生要素３１及び３３は、サーボモータ４の
角速度信号全入力として、各々速度信号及び加速度信号
の帰還利得を出力する。これらの帰還利得は乗算器３２
及び３４の一方の入力端子に入力され、他方の入力端子
に各々入力される速度信号及び加速度信号と乗算される
。この演算結果はいずれもアナログ演算回路１５に入力
される。この実施例では、モータの回転速度に応じて補
償信号の利得を変化させられるため、共振現象のあられ
１１ない領域では補償信号を押さえることができる。FIG. 5 shows another embodiment of the apparatus of the present invention, and in this figure, the same reference numerals as in FIG. 2 are the same parts. In this embodiment, a circuit for changing the feedback gain of the vibration acceleration signal and speed signal in accordance with the rotational speed of the motor is added to the embodiment shown in FIG. 2. That is, the function generating elements 31 and 33 output the feedback gains of the velocity signal and acceleration signal, respectively, as the full input of the angular velocity signal of the servo motor 4. These feedback gains are multiplier 32
and 34, and are multiplied by the speed signal and acceleration signal respectively input to the other input terminal. All of these calculation results are input to the analog calculation circuit 15. In this embodiment, since the gain of the compensation signal can be changed according to the rotational speed of the motor, the compensation signal can be suppressed in a region where resonance phenomena do not occur.

〔発明の効果〕〔Effect of the invention〕

以上詳述したように、本発明によれば、割注の低い動力
伝達部を介してアームを駆動するロボットのサーボ装置
において、アームの振動に対してダンピング効果を持た
せることができる。これによって共振点での振幅や残留
振動の振幅を小さくすることができるので、ロボットの
運動特性を良好にすることができる。As described in detail above, according to the present invention, in a robot servo device that drives an arm via a low-strength power transmission section, it is possible to provide a damping effect to the vibration of the arm. This makes it possible to reduce the amplitude at the resonance point and the amplitude of residual vibration, thereby improving the motion characteristics of the robot.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の装置全実施するロボットの一例の外観
を示す斜視図、第２図は本発明の装置の一実施例を示す
ブロック図、第３図は本発明に用いられる比較演算部の
構成を示すブロック図、第４図は比較演算部における処
理内容を示すフローチャート、第５図は本発明のサーボ
装買の他の実施例を示すブロック図である。 １・・・旋回部、２・・・上腕部、３・・・前腕部、４
・・・サーボモータ、５・・・サーボモータ、６・・・
加速度検出器、７・・・加速度検出器、８・・・加速度
検出器、１１・・・減速％、１２・・・エンコーダ、１
３・・・タコジェネレータ、１４・・・電力増幅器、１
５・・・アナログ演算回路、１６・・・ＤＡ変換器、１
７・・・比較演算部、１８・・・可逆カウンタ、１９・
・・積分回路、２０・・・バイパスフィルタ、２１・・
・チャージアンプ、２２・・・目標値信号発生器、２３
・・・前置増幅器、２４・・・方向弁別回路、３１・・
・関数発生要素、３２・・・乗算器、３３・・・関数発
生要素、３４・・・乗算器。 第　１　図 ′ｆＪ　Ｊ　図 Ｙ４図FIG. 1 is a perspective view showing the external appearance of an example of a robot that implements the entire apparatus of the present invention, FIG. 2 is a block diagram showing an example of the apparatus of the present invention, and FIG. 3 is a comparison calculation unit used in the present invention. FIG. 4 is a flowchart showing the processing contents in the comparison calculation section, and FIG. 5 is a block diagram showing another embodiment of the servo equipment of the present invention. 1... Swivel part, 2... Upper arm part, 3... Forearm part, 4
... Servo motor, 5... Servo motor, 6...
Acceleration detector, 7... Acceleration detector, 8... Acceleration detector, 11... Deceleration %, 12... Encoder, 1
3... Tacho generator, 14... Power amplifier, 1
5... Analog arithmetic circuit, 16... DA converter, 1
7... Comparison calculation unit, 18... Reversible counter, 19.
...Integrator circuit, 20...Bypass filter, 21...
・Charge amplifier, 22...Target value signal generator, 23
... Preamplifier, 24... Direction discrimination circuit, 31...
- Function generation element, 32... Multiplier, 33... Function generation element, 34... Multiplier. Figure 1 'fJ J Figure Y4

Claims (1)

【特許請求の範囲】 １、サーボモータにより、減速機を介して運動部分を駆
動するロボットのサーボ装置において、減速機の出力軸
の角加速度信号を検出する手段と、この信号を積分して
角速度信号を得る手段と、この角速度信号をサーボ装置
の制御部に帰還する手段を備えたことを特徴とするロボ
ットのサーボ装ｆ＃ｔ、６ ２、特許請求の範囲第１項記載のロボットのサーボ装置
において、前記角加速度信号をサーボ装置の制御部に帰
還する手段を備えたことを特徴とする産業用ロボットの
サーボ装置。 ３、特許請求の範囲第１項または第２項記載のロボット
のサーボ装置において、前記角加速度信号を検出する手
段の後段に、信号処理手段としてバイパスフィルタを加
えたことを特徴とするロボットのサーボ装置。 ４、特許請求の範囲第１項または第２項記載のロボット
のサーボ装置において、信号音サーボ装置の制御部に帰
還する手段の前段に、帰還利得をサーボモータの角速度
に応じて変化させる手段を設けたことを特徴とするロボ
ットのサーボ装置。 ５、特許請求の範囲第３項記載のロボットのサーボ装置
において、信号をサーボ装置の制御部に帰還する手段の
前段に、帰還利得金サーボモータの角速度に応じて変化
させる手段を設けたこと′ｔ−特徴とするロボットのサ
ーボ装置。[Claims] 1. In a servo device for a robot that drives a moving part by a servo motor via a reducer, means for detecting an angular acceleration signal of the output shaft of the reducer, and integrating this signal to determine the angular velocity. A robot servo device f#t, 62, characterized in that it is equipped with means for obtaining a signal and means for returning this angular velocity signal to a control section of the servo device, as set forth in claim 1. A servo device for an industrial robot, characterized in that the device includes means for feeding back the angular acceleration signal to a control unit of the servo device. 3. A robot servo device according to claim 1 or 2, characterized in that a bypass filter is added as a signal processing means after the means for detecting the angular acceleration signal. Device. 4. In the robot servo device according to claim 1 or 2, means for changing the feedback gain according to the angular velocity of the servo motor is provided before the means for feeding back to the control section of the signal sound servo device. A robot servo device characterized by: 5. In the robot servo device according to claim 3, means for changing the feedback gain according to the angular velocity of the servo motor is provided before the means for returning the signal to the control section of the servo device.' t-Featured robot servo device.
JP12761783A 1983-07-15 1983-07-15 Servo device of robot Granted JPS6020214A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP12761783A JPS6020214A (en) 1983-07-15 1983-07-15 Servo device of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP12761783A JPS6020214A (en) 1983-07-15 1983-07-15 Servo device of robot

Publications (2)

Publication Number Publication Date
JPS6020214A true JPS6020214A (en) 1985-02-01
JPH057727B2 JPH057727B2 (en) 1993-01-29

Family

ID=14964514

Family Applications (1)

Application Number Title Priority Date Filing Date
JP12761783A Granted JPS6020214A (en) 1983-07-15 1983-07-15 Servo device of robot

Country Status (1)

Country Link
JP (1) JPS6020214A (en)

Cited By (19)

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JPS6257008A (en) * 1985-09-05 1987-03-12 Fanuc Ltd Positioning control system
JPS6284309A (en) * 1985-10-08 1987-04-17 Yaskawa Electric Mfg Co Ltd Machine rigidity compensation servo control system
JPS62245305A (en) * 1986-04-18 1987-10-26 San Esu Shoko Co Ltd Numerical control method
JPS62249208A (en) * 1986-04-23 1987-10-30 San Esu Shoko Co Ltd Generating method for control output command value in numerical control
JPH01234183A (en) * 1988-03-15 1989-09-19 Internatl Business Mach Corp <Ibm> Method of controlling compliance
EP0985989A2 (en) * 1998-09-09 2000-03-15 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method and device for improving the dynamic behaviour of a robot
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Publication number Priority date Publication date Assignee Title
JPS6257008A (en) * 1985-09-05 1987-03-12 Fanuc Ltd Positioning control system
JPS6284309A (en) * 1985-10-08 1987-04-17 Yaskawa Electric Mfg Co Ltd Machine rigidity compensation servo control system
JPS62245305A (en) * 1986-04-18 1987-10-26 San Esu Shoko Co Ltd Numerical control method
JPS62249208A (en) * 1986-04-23 1987-10-30 San Esu Shoko Co Ltd Generating method for control output command value in numerical control
JPH01234183A (en) * 1988-03-15 1989-09-19 Internatl Business Mach Corp <Ibm> Method of controlling compliance
EP0974882A3 (en) * 1998-07-22 2006-11-08 Renishaw plc Method of and apparatus for reducing vibrations on probes carried by coordinate measuring machines
EP0985989A2 (en) * 1998-09-09 2000-03-15 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method and device for improving the dynamic behaviour of a robot
EP0985989A3 (en) * 1998-09-09 2000-12-27 Deutsches Zentrum für Luft- und Raumfahrt e.V. Method and device for improving the dynamic behaviour of a robot
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JP2014050935A (en) * 2012-09-10 2014-03-20 Seiko Epson Corp Robot control device, robot, and robot system
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