JPS6376916U - - Google Patents
Info
- Publication number
- JPS6376916U JPS6376916U JP16946986U JP16946986U JPS6376916U JP S6376916 U JPS6376916 U JP S6376916U JP 16946986 U JP16946986 U JP 16946986U JP 16946986 U JP16946986 U JP 16946986U JP S6376916 U JPS6376916 U JP S6376916U
- Authority
- JP
- Japan
- Prior art keywords
- signal
- robot
- torque signal
- calculating
- adder
- 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.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims 2
- 230000005484 gravity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Control Of Position Or Direction (AREA)
Description
第１図はこの考案によるロボツトの摩擦補償装
置の一実施例を示すブロツク図、第２図は動摩擦
力の演算手順を示すフローチヤート、第３図は動
摩擦力の演算に用いる最小２乗法の説明に供する
略線図である。
１……加算器、２……ロボツト、３……基準ト
ルク演算手段、４……動摩擦力演算手段。
Fig. 1 is a block diagram showing an embodiment of the robot friction compensation device according to this invention, Fig. 2 is a flowchart showing the procedure for calculating the dynamic friction force, and Fig. 3 is an explanation of the least squares method used to calculate the dynamic friction force. FIG. 1...Adder, 2...Robot, 3...Reference torque calculation means, 4...Dynamic friction force calculation means.
Claims (1)
を加算する加算器と、当該加算器からの入力トル
ク信号に応じて動作するロボツトと、当該ロボツ
トのリンク角位置信号、角速度信号、角加速度信
号に基づきコリオリカ、遠心力、重力による基準
トルク信号を演算する基準トルク演算手段と、上
記入力トルク信号、上記基準トルク信号、上記角
速度信号、上記角加速度信号から上記ロボツトの
動摩擦力を演算し、上記フイードバツクトルク信
号を出力する動摩擦力演算手段とを備えたことを
特徴とするロボツトの摩擦補償装置。 An adder that adds a command torque signal and a feedback torque signal, a robot that operates according to the input torque signal from the adder, and a Coriolis controller that operates based on the link angular position signal, angular velocity signal, and angular acceleration signal of the robot. , a reference torque calculating means for calculating a reference torque signal based on centrifugal force and gravity, and calculating the kinetic friction force of the robot from the input torque signal, the reference torque signal, the angular velocity signal, and the angular acceleration signal, and providing the feedback. 1. A friction compensator for a robot, comprising: dynamic friction force calculation means for outputting a torque signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16946986U JPS6376916U (en) | 1986-11-06 | 1986-11-06 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16946986U JPS6376916U (en) | 1986-11-06 | 1986-11-06 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6376916U true JPS6376916U (en) | 1988-05-21 |
Family
ID=31103303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16946986U Pending JPS6376916U (en) | 1986-11-06 | 1986-11-06 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6376916U (en) |
-
1986
- 1986-11-06 JP JP16946986U patent/JPS6376916U/ja active Pending
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