WO1998053962A1 - Procede et dispositif de commande de robot - Google Patents
Procede et dispositif de commande de robot Download PDFInfo
- Publication number
- WO1998053962A1 WO1998053962A1 PCT/JP1998/002284 JP9802284W WO9853962A1 WO 1998053962 A1 WO1998053962 A1 WO 1998053962A1 JP 9802284 W JP9802284 W JP 9802284W WO 9853962 A1 WO9853962 A1 WO 9853962A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- model
- motor
- command
- robot
- axis
- Prior art date
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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- 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
-
- 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
- G05B2219/39186—Flexible joint
-
- 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
- G05B2219/39326—Model compensates positions as function of position to compensate force deformations
-
- 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
- G05B2219/39353—Joint space observer
-
- 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
- G05B2219/39355—Observer, disturbance observer
-
- 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
- G05B2219/41195—Cross coupled feedback, position change one axis effects control of other
-
- 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
- G05B2219/41398—Estimate twist between motor and load, observe motor position and speed
-
- 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
- G05B2219/41443—Position reference ffw for compensation of position
-
- 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
- G05B2219/42156—Forward dynamics model fdm
Definitions
- the correction torque is calculated by differentiating the value of the torsion angle estimated by the state observer. Therefore, noise is likely to be superimposed on the correction torque, which may cause high-frequency vibration of the motor or increase the operating noise.
- Another object of the present invention is to provide a robot control device capable of improving the trajectory accuracy of a tool tip without causing vibration due to interference between axes or high-frequency vibration of a motor.
- An object of the present invention is a robot control method for controlling a multi-axis robot provided with a mechanism having a panel element between an electric motor and a robot arm for each axis.
- a pseudo model with a feedback control system is prepared for the motor, and the position command for each motor is input using the pseudo model, and a model motor position command, model motor speed command, and model feedback Calculate the input command, calculate the interference torque due to the interference from other axes acting between the axes using the pseudo model, calculate the model correction torque that cancels the interference torque, and set the model correction feed command. Then, the model correction torque is added to the final model motor acceleration command, and the model motor position command, model motor speed command, and final model motor This is achieved by a robot control method that executes feedback control for each axis according to the speed command.
- FIG. 1 is a control block diagram showing a configuration of a robot control device according to an embodiment of the present invention.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
- Numerical Control (AREA)
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69838142T DE69838142T2 (de) | 1997-05-28 | 1998-05-26 | Verfahren und geraet zur robotersteuerung |
EP98921795A EP1023973B1 (en) | 1997-05-28 | 1998-05-26 | Robot control method and device |
KR10-1999-7010866A KR100537325B1 (ko) | 1997-05-28 | 1998-05-26 | 로봇 제어방법 및 제어장치 |
US09/424,561 US6295484B1 (en) | 1997-05-28 | 1998-05-26 | Robot control method and device |
CA002291012A CA2291012C (en) | 1997-05-28 | 1998-05-26 | Robot control method and device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP13854397A JP3981773B2 (ja) | 1997-05-28 | 1997-05-28 | ロボット制御装置 |
JP9/138543 | 1997-05-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998053962A1 true WO1998053962A1 (fr) | 1998-12-03 |
Family
ID=15224620
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1998/002284 WO1998053962A1 (fr) | 1997-05-28 | 1998-05-26 | Procede et dispositif de commande de robot |
Country Status (8)
Country | Link |
---|---|
US (1) | US6295484B1 (ja) |
EP (1) | EP1023973B1 (ja) |
JP (1) | JP3981773B2 (ja) |
KR (1) | KR100537325B1 (ja) |
CN (1) | CN1120077C (ja) |
CA (1) | CA2291012C (ja) |
DE (1) | DE69838142T2 (ja) |
WO (1) | WO1998053962A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008126383A (ja) * | 2006-11-24 | 2008-06-05 | Toyota Motor Corp | 関節駆動型ロボット、及びその制御方法 |
TWI740954B (zh) * | 2016-07-20 | 2021-10-01 | 日商日本電產三協股份有限公司 | 馬達系統 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4192780B2 (ja) | 2003-12-26 | 2008-12-10 | 株式会社安川電機 | ロボットの制御装置 |
US6909819B1 (en) * | 2004-04-16 | 2005-06-21 | Capella Photonics, Inc. | System and method for canceling disturbance MEMS devices |
JP2008073830A (ja) * | 2006-09-25 | 2008-04-03 | Fanuc Ltd | ロボット制御装置 |
JP5090045B2 (ja) * | 2007-04-03 | 2012-12-05 | テルモ株式会社 | マニピュレータ及びその制御方法 |
KR100933969B1 (ko) * | 2007-11-16 | 2009-12-28 | 전자부품연구원 | 모션 제어 장치 및 방법 |
US8548802B2 (en) * | 2009-05-22 | 2013-10-01 | Honda Motor Co., Ltd. | Acoustic data processor and acoustic data processing method for reduction of noise based on motion status |
DE102009032278B4 (de) * | 2009-07-08 | 2021-03-04 | Kuka Roboter Gmbh | Verfahren und eine Vorrichtung zum Betreiben eines Manipulators |
JP5374613B2 (ja) * | 2012-05-30 | 2013-12-25 | 株式会社神戸製鋼所 | 多関節ロボットの弾性変形補償制御装置および制御方法 |
JP5868266B2 (ja) * | 2012-05-30 | 2016-02-24 | 株式会社神戸製鋼所 | 多関節ロボットの弾性変形補償制御装置および制御方法 |
GB2518576B (en) | 2012-08-02 | 2015-09-02 | Toshiba Machine Co Ltd | Robotic apparatus and control method therefor |
US9440353B1 (en) | 2014-12-29 | 2016-09-13 | Google Inc. | Offline determination of robot behavior |
JP6666234B2 (ja) | 2016-11-29 | 2020-03-13 | ファナック株式会社 | 数値制御装置 |
WO2018179120A1 (ja) * | 2017-03-29 | 2018-10-04 | 株式会社Fuji | 位置決め制御装置の外乱非干渉化補償システム及び部品実装機 |
WO2019012942A1 (ja) | 2017-07-11 | 2019-01-17 | パナソニックIpマネジメント株式会社 | ロボット制御装置 |
TWI712471B (zh) * | 2019-12-03 | 2020-12-11 | 台達電子工業股份有限公司 | 機械手臂系統及機械手臂控制方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62257508A (ja) * | 1986-05-01 | 1987-11-10 | Agency Of Ind Science & Technol | ロボツトの制御方式 |
JPH01163808A (ja) * | 1987-12-21 | 1989-06-28 | Agency Of Ind Science & Technol | ロボットの非干渉化制御方法 |
JPH0375906A (ja) * | 1989-08-18 | 1991-03-29 | Hitachi Ltd | 多軸機構の制御方法及び装置 |
JPH05313752A (ja) * | 1992-05-07 | 1993-11-26 | Hitachi Ltd | ロボットの制御装置 |
JPH0852675A (ja) * | 1994-08-16 | 1996-02-27 | Nippon Telegr & Teleph Corp <Ntt> | マニピュレータの選択的外乱補償型ハイブリッド制御装置および制御方法 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0740204B2 (ja) * | 1985-03-30 | 1995-05-01 | 株式会社東芝 | 多自由度非線形機械システムの制御装置 |
US4851748A (en) * | 1986-11-20 | 1989-07-25 | Westinghouse Electric Corp. | Basic digital multi-axis robot control having modular performance expansion capability |
US4864206A (en) * | 1986-11-20 | 1989-09-05 | Westinghouse Electric Corp. | Multiaxis robot control having improved energy monitoring system for protecting robots against joint motor overload |
US4829219A (en) * | 1986-11-20 | 1989-05-09 | Unimation Inc. | Multiaxis robot having improved motion control through variable acceleration/deceleration profiling |
US4962338A (en) * | 1986-11-20 | 1990-10-09 | Staubli International Ag. | Universal robot control board configuration |
US4868474A (en) * | 1986-11-20 | 1989-09-19 | Westinghouse Electric Corp. | Multiprocessor position/velocity servo control for multiaxis digital robot control system |
US4864204A (en) * | 1986-11-20 | 1989-09-05 | Westinghouse Electric Corp. | Multiprocessor torque servo control for multiaxis digital robot control system |
US4786847A (en) * | 1986-11-20 | 1988-11-22 | Unimation Inc. | Digital control for multiaxis robots |
US5142677A (en) * | 1989-05-04 | 1992-08-25 | Texas Instruments Incorporated | Context switching devices, systems and methods |
JPH01171004A (ja) * | 1987-12-25 | 1989-07-06 | Shin Meiwa Ind Co Ltd | ロボットの制御装置 |
JPH0276692A (ja) * | 1988-09-08 | 1990-03-16 | Fuji Electric Co Ltd | ロボットの適応制御方法 |
JPH02224991A (ja) * | 1989-02-28 | 1990-09-06 | Seiko Instr Inc | 機械共振を用いたロボットアームの慣性モーメント同定方法 |
JPH04160604A (ja) * | 1990-10-25 | 1992-06-03 | Fanuc Ltd | ロボット制御方式 |
JPH07223185A (ja) * | 1994-02-07 | 1995-08-22 | Daikin Ind Ltd | 産業用ロボット制御方法およびその装置 |
JPH0866893A (ja) * | 1994-08-24 | 1996-03-12 | Fanuc Ltd | 衝突検出方法 |
JP3506157B2 (ja) * | 1995-03-14 | 2004-03-15 | 株式会社安川電機 | 電動機の位置制御装置 |
JPH09212203A (ja) * | 1995-11-30 | 1997-08-15 | Sony Corp | ロボット制御装置 |
JP3611147B2 (ja) * | 1996-02-20 | 2005-01-19 | 株式会社安川電機 | 多軸ロボットの制御装置 |
JPH106261A (ja) * | 1996-06-18 | 1998-01-13 | Sony Corp | ロボット制御装置 |
JPH10128688A (ja) * | 1996-09-04 | 1998-05-19 | Sankyo Seiki Mfg Co Ltd | ロボットの非干渉化制御方法 |
-
1997
- 1997-05-28 JP JP13854397A patent/JP3981773B2/ja not_active Expired - Fee Related
-
1998
- 1998-05-26 WO PCT/JP1998/002284 patent/WO1998053962A1/ja active IP Right Grant
- 1998-05-26 KR KR10-1999-7010866A patent/KR100537325B1/ko not_active IP Right Cessation
- 1998-05-26 CN CN98807464A patent/CN1120077C/zh not_active Expired - Fee Related
- 1998-05-26 US US09/424,561 patent/US6295484B1/en not_active Expired - Lifetime
- 1998-05-26 EP EP98921795A patent/EP1023973B1/en not_active Expired - Lifetime
- 1998-05-26 DE DE69838142T patent/DE69838142T2/de not_active Expired - Lifetime
- 1998-05-26 CA CA002291012A patent/CA2291012C/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62257508A (ja) * | 1986-05-01 | 1987-11-10 | Agency Of Ind Science & Technol | ロボツトの制御方式 |
JPH01163808A (ja) * | 1987-12-21 | 1989-06-28 | Agency Of Ind Science & Technol | ロボットの非干渉化制御方法 |
JPH0375906A (ja) * | 1989-08-18 | 1991-03-29 | Hitachi Ltd | 多軸機構の制御方法及び装置 |
JPH05313752A (ja) * | 1992-05-07 | 1993-11-26 | Hitachi Ltd | ロボットの制御装置 |
JPH0852675A (ja) * | 1994-08-16 | 1996-02-27 | Nippon Telegr & Teleph Corp <Ntt> | マニピュレータの選択的外乱補償型ハイブリッド制御装置および制御方法 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008126383A (ja) * | 2006-11-24 | 2008-06-05 | Toyota Motor Corp | 関節駆動型ロボット、及びその制御方法 |
TWI740954B (zh) * | 2016-07-20 | 2021-10-01 | 日商日本電產三協股份有限公司 | 馬達系統 |
Also Published As
Publication number | Publication date |
---|---|
EP1023973B1 (en) | 2007-07-25 |
JP3981773B2 (ja) | 2007-09-26 |
CA2291012A1 (en) | 1998-12-03 |
EP1023973A1 (en) | 2000-08-02 |
JPH10329063A (ja) | 1998-12-15 |
KR100537325B1 (ko) | 2005-12-16 |
DE69838142D1 (de) | 2007-09-06 |
CA2291012C (en) | 2008-01-29 |
CN1120077C (zh) | 2003-09-03 |
CN1265057A (zh) | 2000-08-30 |
EP1023973A4 (en) | 2004-09-01 |
US6295484B1 (en) | 2001-09-25 |
KR20010012899A (ko) | 2001-02-26 |
DE69838142T2 (de) | 2008-04-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO1998053962A1 (fr) | Procede et dispositif de commande de robot | |
CN109664297B (zh) | 机器人的振动抑制方法、系统、装置及计算机可读存储器 | |
KR101688344B1 (ko) | 다관절 로봇의 위빙 제어 장치 | |
JP4148189B2 (ja) | 柔軟関節ロボットアームの制御装置 | |
JP2005301508A (ja) | 制御装置 | |
WO2018212305A1 (ja) | モータ制御システム、モータ制御システムの制御方法、及びロボットシステム | |
US20200180154A1 (en) | Robot system and method for controlling robot system | |
JP6043231B2 (ja) | 電動機制御装置 | |
JPH10275003A (ja) | 2慣性共振系を制御する方法及びその装置 | |
JP3611147B2 (ja) | 多軸ロボットの制御装置 | |
WO2005063455A1 (ja) | ロボットの制御装置 | |
JPH09212203A (ja) | ロボット制御装置 | |
JP2000218577A (ja) | ロボット制御装置 | |
JP4008207B2 (ja) | ロボット制御方法および制御装置 | |
JPH08278821A (ja) | サーボ制御系の制振方法 | |
JP3355420B2 (ja) | 産業用ロボットの制御方法 | |
JPH05252779A (ja) | ロボットのサーボ制御装置 | |
JP2778620B2 (ja) | 人工衛星の姿勢制御装置 | |
JP2006244300A (ja) | 制御装置 | |
JPH04343690A (ja) | 多関節マニピュレータの関節摩擦補償方法 | |
JP2024017883A (ja) | 動力学トルク補償に基づく制御方法及び制御装置 | |
JPH08147038A (ja) | モータの駆動制御装置 | |
CN116209548A (zh) | 电流限制装置、机器人系统以及电流限制方法 | |
JPH06250702A (ja) | サーボ制御装置 | |
JPH0934504A (ja) | 2慣性駆動系の運動制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 98807464.8 Country of ref document: CN |
|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): CA CN KR US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
ENP | Entry into the national phase |
Ref document number: 2291012 Country of ref document: CA Ref document number: 2291012 Country of ref document: CA Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1019997010866 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 09424561 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1998921795 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1998921795 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1019997010866 Country of ref document: KR |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 1019997010866 Country of ref document: KR |
|
WWG | Wipo information: grant in national office |
Ref document number: 1019997010866 Country of ref document: KR |
|
WWG | Wipo information: grant in national office |
Ref document number: 1998921795 Country of ref document: EP |