PH12015501728A1 - Industrial robot and industrial robot control method - Google Patents

Industrial robot and industrial robot control method

Info

Publication number
PH12015501728A1
PH12015501728A1 PH12015501728A PH12015501728A PH12015501728A1 PH 12015501728 A1 PH12015501728 A1 PH 12015501728A1 PH 12015501728 A PH12015501728 A PH 12015501728A PH 12015501728 A PH12015501728 A PH 12015501728A PH 12015501728 A1 PH12015501728 A1 PH 12015501728A1
Authority
PH
Philippines
Prior art keywords
motors
torque
industrial robot
rotating
limiting value
Prior art date
Application number
PH12015501728A
Other versions
PH12015501728B1 (en
Inventor
Takayuki Yazawa
Chikahiro Tanaka
Jun Otsuji
Hirokazu Watanabe
Junnosuke Koyama
Original Assignee
Nidec Sankyo Corp
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 Nidec Sankyo Corp filed Critical Nidec Sankyo Corp
Publication of PH12015501728A1 publication Critical patent/PH12015501728A1/en
Publication of PH12015501728B1 publication Critical patent/PH12015501728B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39093—On collision, ann, bam, learns path on line, used next time for same command
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41245—Discrimination of direction
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42289—Avoid overload servo motor, actuator limit servo torque
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43203—Limitation of speed, permissible, allowable, maximum speed

Abstract

In this robot (1), the torque for rotating motors (15, 17, 19) in one direction is defined as positive torque and the torque for rotating the same in the other direction as negative torque. During test operation of a robot (1) performed after completing teaching, a control unit (5) rotates the motors (15, 17, 19) at a speed lower than the speed during normal operation of the robot (1) performed after completion of test operation, and if during test operation, the motors (15, 17, 19) rotate in the first direction, then the motors (15, 17, 19) are controlled at a torque limiting value lower than the torque limiting value in the case of the motors (15, 17, 19) rotating in the one direction during normal operation, and if during test operation, the motors (15, 17, 19) rotate in the other direction, then the motors (15, 17, 19) are controlled at a torque limiting value higher than the torque limiting value in the case of the motors (15, 17, 19) rotating in the other direction during normal operation.
PH12015501728A 2013-02-13 2015-08-06 Industrial robot and industrial robot control method PH12015501728B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2013025427 2013-02-13
JP2013025426 2013-02-13
PCT/JP2014/053214 WO2014126112A1 (en) 2013-02-13 2014-02-12 Industrial robot and industrial robot control method

Publications (2)

Publication Number Publication Date
PH12015501728A1 true PH12015501728A1 (en) 2015-11-09
PH12015501728B1 PH12015501728B1 (en) 2015-11-09

Family

ID=51354111

Family Applications (1)

Application Number Title Priority Date Filing Date
PH12015501728A PH12015501728B1 (en) 2013-02-13 2015-08-06 Industrial robot and industrial robot control method

Country Status (5)

Country Link
JP (1) JP6295243B2 (en)
CN (1) CN104995001B (en)
PH (1) PH12015501728B1 (en)
TW (1) TWI647078B (en)
WO (1) WO2014126112A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016159367A (en) * 2015-02-26 2016-09-05 ファナック株式会社 Robot control device for automatically switching operation mode of robot
JP6577326B2 (en) 2015-10-16 2019-09-18 ファナック株式会社 Robot control apparatus, robot system, and method for controlling robot that carries objects in cooperation with human
WO2017128283A1 (en) * 2016-01-29 2017-08-03 Abb Schweiz Ag Flexible tooling device and flexible tooling system
JP6709692B2 (en) * 2016-06-30 2020-06-17 日本電産サンキョー株式会社 Robot, teaching jig, and robot teaching method
CN106531678A (en) * 2017-01-05 2017-03-22 江西比太科技有限公司 Silicon wafer gripping device and solar cell production equipment of using same

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JP4281696B2 (en) * 2005-03-14 2009-06-17 セイコーエプソン株式会社 Acceleration / deceleration control method and apparatus, and acceleration / deceleration control method program
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Also Published As

Publication number Publication date
CN104995001A (en) 2015-10-21
WO2014126112A1 (en) 2014-08-21
PH12015501728B1 (en) 2015-11-09
JP6295243B2 (en) 2018-03-14
JPWO2014126112A1 (en) 2017-02-02
CN104995001B (en) 2017-07-14
TW201440974A (en) 2014-11-01
TWI647078B (en) 2019-01-11

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