JPS6444510A - Robot control device - Google Patents
Robot control deviceInfo
- Publication number
- JPS6444510A JPS6444510A JP20079887A JP20079887A JPS6444510A JP S6444510 A JPS6444510 A JP S6444510A JP 20079887 A JP20079887 A JP 20079887A JP 20079887 A JP20079887 A JP 20079887A JP S6444510 A JPS6444510 A JP S6444510A
- Authority
- JP
- Japan
- Prior art keywords
- servo system
- calculation
- speed
- acceleration
- dynamic
- 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
Landscapes
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
Abstract
PURPOSE:To allow a robot to more accurately follow up a mode by means of comparatively simple dynamic compensating calculation by combining the dynamic compensation of a servo system with a servo system having high gain. CONSTITUTION:A position, a speed and acceleration xr in rectangular coordinates are calculated by a model calculation part 10 from force F detected by a force sensor 8 and the state of an impedance operation model and these values are converted into a joint angle, an angular speed and angular acceleration thetad in a joint coordinate system of the robot 1 and applied to a servo system 11 as commands. The servo system 11 executes dynamic compensation based on a current position, a speed theta and the commanded acceleration applied from the model calculation part 10. Since the dynamic compensation is combined with the servo system having high gain, only items having large influence may be calculated in the dynamic compensating calculation and the calculation can be comparatively simplified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20079887A JPS6444510A (en) | 1987-08-13 | 1987-08-13 | Robot control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20079887A JPS6444510A (en) | 1987-08-13 | 1987-08-13 | Robot control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6444510A true JPS6444510A (en) | 1989-02-16 |
Family
ID=16430367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20079887A Pending JPS6444510A (en) | 1987-08-13 | 1987-08-13 | Robot control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6444510A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03117576A (en) * | 1989-09-30 | 1991-05-20 | Agency Of Ind Science & Technol | Master slave robot control |
| JPH03161289A (en) * | 1989-11-16 | 1991-07-11 | Agency Of Ind Science & Technol | Control method for master/slave robot |
| JPH03290706A (en) * | 1990-04-09 | 1991-12-20 | Mitsubishi Electric Corp | Numerical controller |
| WO1998033100A1 (en) * | 1997-01-27 | 1998-07-30 | Fanuc Ltd | Method and system for controlling robot |
| US9020642B2 (en) | 2012-01-17 | 2015-04-28 | Seiko Epson Corporation | Robot controller, robot system, robot control method |
| US9050721B2 (en) | 2012-01-17 | 2015-06-09 | Seiko Epson Corporation | Robot controller, robot system, robot control method |
| CN106272428A (en) * | 2016-09-13 | 2017-01-04 | 江苏大学 | A kind of apple picking robot end effector grasp force Active Compliance Control method |
| JP2017226031A (en) * | 2016-06-21 | 2017-12-28 | セイコーエプソン株式会社 | Force sensor unit and robot |
| WO2022247172A1 (en) * | 2021-05-26 | 2022-12-01 | 深圳市优必选科技股份有限公司 | Massage motion control method and apparatus, robot control device, and storage medium |
-
1987
- 1987-08-13 JP JP20079887A patent/JPS6444510A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03117576A (en) * | 1989-09-30 | 1991-05-20 | Agency Of Ind Science & Technol | Master slave robot control |
| JPH03161289A (en) * | 1989-11-16 | 1991-07-11 | Agency Of Ind Science & Technol | Control method for master/slave robot |
| JPH03290706A (en) * | 1990-04-09 | 1991-12-20 | Mitsubishi Electric Corp | Numerical controller |
| WO1998033100A1 (en) * | 1997-01-27 | 1998-07-30 | Fanuc Ltd | Method and system for controlling robot |
| US9020642B2 (en) | 2012-01-17 | 2015-04-28 | Seiko Epson Corporation | Robot controller, robot system, robot control method |
| US9050721B2 (en) | 2012-01-17 | 2015-06-09 | Seiko Epson Corporation | Robot controller, robot system, robot control method |
| US9517562B2 (en) | 2012-01-17 | 2016-12-13 | Seiko Epson Corporation | Robot controller, robot system, robot control method |
| JP2017226031A (en) * | 2016-06-21 | 2017-12-28 | セイコーエプソン株式会社 | Force sensor unit and robot |
| US10209152B2 (en) | 2016-06-21 | 2019-02-19 | Seiko Epson Corporation | Force sensor unit and robot arm including a wire cable routed from inside a casing to outside of the casing |
| CN106272428A (en) * | 2016-09-13 | 2017-01-04 | 江苏大学 | A kind of apple picking robot end effector grasp force Active Compliance Control method |
| WO2022247172A1 (en) * | 2021-05-26 | 2022-12-01 | 深圳市优必选科技股份有限公司 | Massage motion control method and apparatus, robot control device, and storage medium |
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