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WO2020184203A1 - Dispositif de commande de robot et procédé de commande de robot - Google Patents

Dispositif de commande de robot et procédé de commande de robot Download PDF

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Publication number
WO2020184203A1
WO2020184203A1 PCT/JP2020/008100 JP2020008100W WO2020184203A1 WO 2020184203 A1 WO2020184203 A1 WO 2020184203A1 JP 2020008100 W JP2020008100 W JP 2020008100W WO 2020184203 A1 WO2020184203 A1 WO 2020184203A1
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WO
WIPO (PCT)
Prior art keywords
command value
control unit
torque
joint
robot
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.)
Ceased
Application number
PCT/JP2020/008100
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English (en)
Japanese (ja)
Inventor
鉄也 田原
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.)
Azbil Corp
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Azbil Corp
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Filing date
Publication date
Application filed by Azbil Corp filed Critical Azbil Corp
Priority to CN202080016903.2A priority Critical patent/CN113508011A/zh
Publication of WO2020184203A1 publication Critical patent/WO2020184203A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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

Definitions

  • the present invention relates to a robot control device and a robot control method capable of simultaneously controlling the position and posture and force of a robot.
  • robots such as vertical articulated robots
  • a robot control device that simultaneously (parallel) controls the position and posture and force is used (see, for example, Patent Document 1).
  • the position / posture represents at least one of the position and the posture of the robot.
  • 9 to 11 show an example of the robot control device 1b.
  • the robot control device 1b shown in FIG. 9 includes a main control unit (upper controller) 11b and a plurality of joint control units (lower controller) 12b.
  • the joint control unit 12b is provided for each joint of the robot 2.
  • the main control unit 11b and each joint control unit 12b are connected by a communication line.
  • the robot 2 has a motor 21 and a sensor 22 (torque sensor 23 and encoder 24) for each joint.
  • the motor 21 and the sensor 22 are each connected to the corresponding joint control unit 12b by a power line or the like.
  • the torque sensor 23 detects the current value of torque at the corresponding joint.
  • the encoder 24 detects the current value of the corresponding joint angle. Note that FIG. 10 shows only one set of the motor 21, the torque sensor 23, and the encoder 24.
  • the main control unit 11b controls the entire robot 2 by outputting a command value to each joint control unit 12b.
  • the main control unit 11b has a force command value, a position / posture command value, and a speed command value for each joint based on the current torque value and the angle current value for each joint of the robot 2. Is calculated.
  • the main control unit 11b includes a force calculation unit 111b, a force control unit 112b, a position / attitude calculation unit 113b, a position / attitude control unit 114b, a command value synthesis unit 115b, and a command value conversion unit 116b. I have.
  • the force calculation unit 111b calculates the current value of the force of the robot 2 based on the current value of the torque of each joint of the robot 2.
  • the torque for each joint of the robot 2 is represented by the joint coordinate system, and the force calculation unit 111b converts the torque for each joint into a force represented by the orthogonal coordinate system.
  • ⁇ represents the current value of torque
  • F represents the current value of force.
  • the force control unit 112b calculates the force control command value based on the force command value and the current value of the force calculated by the force calculation unit 111b.
  • the deviation calculator 1121b obtains the deviation between the command value of the force and the current value of the force, and the coefficient multiplication unit 1122b multiplies the deviation of the calculation result by the deviation calculator 1121b by the gain. By doing so, the command value of force control is obtained.
  • Fr represents the command value of the force
  • G F represents a gain.
  • the position / posture calculation unit 113b calculates the current value of the position / posture of the robot 2 based on the current value of the angle of each joint of the robot 2.
  • the current value of the angle for each joint of the robot 2 is represented by the joint coordinate system
  • the position / posture calculation unit 113b converts the current value of the angle for each joint into the current value of the position / posture represented by the orthogonal coordinate system.
  • ⁇ represents the current value of the angle
  • X represents the current value of the position and orientation.
  • the position / posture control unit 114b calculates the position / posture control command value based on the position / posture command value and the position / posture current value calculated by the position / posture calculation unit 113b.
  • the deviation calculator 1141b obtains the deviation between the command value of the position / posture and the current value of the position / posture, and the coefficient multiplication unit 1142b multiplies the calculation result by the deviation calculator 1141b by the gain. By doing so, the command value of the position / attitude control is obtained.
  • Xr represents the command value of the position and orientation
  • G Z represents the gain.
  • the command value synthesis unit 115b synthesizes the force control command value calculated by the force control unit 112b and the position / attitude control command value calculated by the position / attitude control unit 114b.
  • the adder 1151b adds the command value for force control and the command value for position / attitude control.
  • the command value conversion unit 116b converts the synthesis result by the command value synthesis unit 115b into a command value of the angular velocity of each joint of the robot 2.
  • the coefficient multiplication unit 1161b multiplies the synthesis result by the inverse matrix of the Jacobian matrix. That is, the command value conversion unit 116b converts the command value represented by the orthogonal coordinate system into the command value represented by the joint coordinate system.
  • J represents the Jacobian matrix
  • ⁇ (dot) r represents the command value of the angular velocity.
  • the joint control unit 12b controls the motor 21 provided in the corresponding joint in response to a command from the main control unit 11b. As shown in FIG. 10, the joint control unit 12b includes a torque acquisition unit 121b and a joint angle control unit 122b.
  • the torque acquisition unit 121b acquires the current value of the torque at the corresponding joint.
  • the data indicating the current value of the torque acquired by the torque acquisition unit 121b is output to the main control unit 11b (force calculation unit 111b).
  • the joint angle control unit 122b calculates a command value for the motor 21 provided in the corresponding joint based on the command value of the angular velocity calculated by the main control unit 11b and the current value of the angle for each joint of the robot 2. ..
  • the speed conversion unit 1221b converts the current value of the angle into the current value of the angular velocity
  • the subtractor 1223b subtracts the current value of the angular velocity obtained by the speed conversion unit 1221b from the command value of the angular velocity.
  • the PI control unit 1224b performs PI control based on the subtraction result by the subtractor 1223b to obtain a command value for the motor 21.
  • the main control unit 11b has a degree of freedom of multiple joints (for example, 6 degrees of freedom).
  • the result of controlling and calculating the position and posture and the force at the same time is synthesized, and the combined result is converted into a signal to the joint control unit 12b of each axis and then output. That is, in the robot control device 1b, the main control unit 11b executes the main calculation of the compliance control. Therefore, this robot control device 1b has an advantage that parameters to be adjusted can be rationally integrated.
  • the feedback system is configured by the main control unit. That is, in this robot control device, the feedback control calculation is performed by a component having a physical and communication distance from the robot. Therefore, the delay from the detection of torque by the torque sensor to the input of the command value to the motor becomes long. As a result, in this robot control device, there is inevitably more room for wasted time, which is a factor that suppresses high gain that can maintain stability.
  • the dead time itself is not an element that can be canceled by lead compensation or the like, an adverse effect on the response time is unavoidable. As described above, it is difficult to improve the force control performance (particularly quick response) in the conventional robot control device, and further improvement is required.
  • the present invention has been made to solve the above problems, and an object of the present invention is to provide a robot control device capable of improving force control performance with respect to a conventional configuration.
  • the robot control device determines the torque command value and the position / posture control command value for each joint based on the force command value, the position / posture command value, and the current value of the angle of each joint of the robot.
  • the main control unit to be calculated and the joints of the robot are provided for each joint, and correspond based on the current value of the torque at the corresponding joint, the command value of the torque calculated by the main control unit, and the command value of the position / attitude control. It is characterized by being provided with a joint control unit that calculates a command value for a motor provided in the joint.
  • the force control performance can be improved as compared with the conventional configuration.
  • FIG. 6A and 6B are diagrams for explaining the effect of the robot control device according to the first embodiment, and FIG. 6A is an example of simulation results when the robot control device according to the first embodiment is used.
  • FIG. 6A is an example of simulation results when the robot control device according to the first embodiment is used.
  • 6B is a diagram showing an example of a simulation result when a conventional robot control device is used. It is a figure which shows the configuration example of the robot control device which concerns on Embodiment 2. It is a figure which shows the configuration example of the robot control device which concerns on Embodiment 2. It is a figure which shows the configuration example of the robot system including the conventional robot control device. It is a figure which shows the configuration example of the conventional robot control device. It is a figure which shows the configuration example of the conventional robot control device.
  • Embodiment 1. 1 and 2 are diagrams showing a configuration example of the robot control device 1 according to the first embodiment.
  • the relationship between the robot control device 1 and the robot 2 is the same as that in FIG. 9, and the description thereof will be omitted.
  • the robot control device 1 controls the position / posture and the force of the robot 2 at the same time (parallel).
  • the robot control device 1 includes a main control unit (upper controller) 11 and a plurality of joint control units (lower controllers) 12.
  • the joint control unit 12 is provided for each joint of the robot 2.
  • the main control unit 11 and each joint control unit 12 are connected by a communication line.
  • the main control unit 11 controls the entire robot 2 by outputting a command value to each joint control unit 12. Specifically, the main control unit 11 controls the torque command value and the position / posture control for each joint based on the force command value and the position / posture command value and the current value of the angle of each joint of the robot 2. Calculate the command value.
  • the command value for position / attitude control is the command value for speed.
  • the main control unit 11 includes a torque command value conversion unit 111, a position / attitude calculation unit 112, a position / attitude control unit 113, and a command value conversion unit 114.
  • the main control unit 11 is realized by a processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory or the like, or the like.
  • the torque command value conversion unit 111 converts the force command value into the torque command value for each joint of the robot 2.
  • the torque command value conversion unit 111 has a coefficient multiplication unit 1111.
  • the coefficient multiplication unit 1111 multiplies the command value of the force by the transposed matrix of the Jacobian matrix.
  • the force command value is represented by the Cartesian coordinate system
  • the torque command value conversion unit 111 converts the force command value into the torque command value represented by the joint coordinate system.
  • Fr represents a force command value
  • J represents a Jacobian matrix
  • ⁇ r represents a torque command value.
  • the position / posture calculation unit 112 calculates the current value of the position / posture of the robot 2 based on the current value of the angle of each joint of the robot 2.
  • the angle of each joint of the robot 2 is represented by the joint coordinate system, and the position / posture calculation unit 112 converts the angle of each joint into the position / posture represented by the orthogonal coordinate system.
  • the current value of the angle of each joint of the robot 2 is detected by the encoder 24 provided for each joint. In FIG. 2, ⁇ represents the current value of the angle, and X represents the current value of the position and orientation.
  • the position / attitude control unit 113 calculates a speed command value (position / attitude control command value) based on the position / attitude command value and the current position / attitude value calculated by the position / attitude calculation unit 112.
  • the position / attitude control unit 113 includes a deviation calculator 1131 and a coefficient multiplication unit 1132.
  • the deviation calculator 1131 calculates the deviation between the command value of the position / orientation and the current value of the position / orientation.
  • the coefficient multiplication unit 1132 obtains a speed command value by multiplying the deviation of the calculation result by the deviation calculator 1131 by the gain.
  • Xr represents a command value of position and orientation
  • G Z represents a gain.
  • the command value conversion unit 114 converts the speed command value calculated by the position / attitude control unit 113 into the command value of the angular velocity for each joint of the robot 2.
  • the command value conversion unit 114 has a coefficient multiplication unit 1141.
  • the coefficient multiplication unit 1141 multiplies the command value of the velocity calculated by the position / orientation control unit 113 by the inverse matrix of the Jacobian matrix. That is, the command value conversion unit 114 converts the command value represented by the orthogonal coordinate system into the command value represented by the joint coordinate system.
  • ⁇ (dot) r represents the command value of the angular velocity.
  • the joint control unit 12 controls the motor 21 provided in the corresponding joint in response to a command from the main control unit 11. Specifically, the joint control unit 12 is based on the current value of the torque at the corresponding joint, the command value of the torque calculated by the main control unit 11, and the command value of the angular velocity (command value of the position / attitude control). The command value for the motor 21 provided in the corresponding joint is calculated. As shown in FIG. 1, the joint control unit 12 includes a torque acquisition unit 121, a torque control unit 122, and a motor control unit 123.
  • the motor control unit 123 has a joint angle control unit 124 and a command value synthesis unit 125.
  • the torque acquisition unit 121 acquires the current value of the torque at the corresponding joint.
  • the current value of the torque for each joint of the robot 2 is detected by the torque sensor 23 provided for each joint.
  • the torque control unit 122 calculates the torque control command value based on the current value of the torque at the corresponding joint and the torque command value calculated by the main control unit 11.
  • the torque control unit 122 has a subtractor 1221 and a PI control unit 1222.
  • the subtractor 1221 subtracts the current value of the torque acquired by the torque acquisition unit 121 from the command value of the torque calculated by the main control unit 11.
  • the PI control unit 1222 obtains a command value for torque control by performing PI control based on the subtraction result by the subtractor 1221.
  • the joint angle control unit 124 calculates the command value for angular velocity control based on the command value for the angular velocity calculated by the main control unit 11.
  • the joint angle control unit 124 has a speed conversion unit 1241 and a speed control unit 1242.
  • the speed control unit 1242 has a subtractor 1243 and a PI control unit 1244.
  • the speed conversion unit 1241 converts the current value of the angle at the corresponding joint into the current value of the angular velocity.
  • the subtractor 1243 subtracts the current value of the angular velocity obtained by the speed conversion unit 1241 from the command value of the angular velocity calculated by the main control unit 11.
  • the PI control unit 1244 obtains a command value for angular velocity control by performing PI control based on the subtraction result by the subtractor 1243.
  • the command value combining unit 125 synthesizes the torque control command value calculated by the torque control unit 122 and the angular velocity control command value calculated by the joint angle control unit 124.
  • the command value synthesizing unit 125 has an adder 1251.
  • the adder 1251 adds the torque control command value calculated by the torque control unit 122 and the angular velocity control command value calculated by the joint angle control unit 124.
  • the main control unit 11 first has a force command value, a position / posture command value, and the robot 2. Based on the current value of the angle for each joint, the torque command value and the angular velocity command value (position / posture control command value) for each joint are calculated (step ST301).
  • the joint control unit 12 commands the motor 21 provided in the corresponding joint based on the current value of the torque in the corresponding joint, the command value of the torque calculated by the main control unit 11, and the command value of the angular velocity. Calculate the value (step ST302).
  • the torque command value conversion unit 111 first converts the force command value into the torque command value for each joint of the robot 2. Convert (step ST401).
  • the coefficient multiplication unit 1111 multiplies the command value of the force by the transposed matrix of the Jacobian matrix. Since the Jacobian matrix changes depending on the angle of the joints of the robot 2, it is necessary to update it as appropriate. Further, since the current value of the torque acquired by the torque acquisition unit 121 usually includes a torque component caused by gravity, it is preferable to superimpose the estimated value of the torque component caused by gravity on the torque command value so as to cancel this torque component.
  • the position / posture calculation unit 112 calculates the current value of the position / posture of the robot 2 based on the current value of the angle of each joint of the robot 2 (step ST402).
  • the position / attitude control unit 113 calculates a speed command value (position / attitude control command value) based on the position / attitude command value and the position / attitude current value calculated by the position / attitude calculation unit 112 (step). ST403).
  • the deviation calculator 1131 calculates the deviation between the command value of the position / orientation and the current value of the position / orientation
  • the coefficient multiplication unit 1132 calculates the deviation of the calculation result by the deviation calculator 1131.
  • the deviation of the position is obtained by subtracting the coordinate value of the current value from the coordinate value of the command value.
  • the attitude deviation can be obtained by obtaining the rotation conversion from the attitude of the current value to the attitude of the command value.
  • the command value conversion unit 114 converts the speed command value calculated by the position / attitude control unit 113 into the command value of the angular velocity for each joint of the robot 2 (step ST404).
  • the coefficient multiplication unit 1141 obtains the command value of the angular velocity for each joint by multiplying the command value of the velocity calculated by the position / attitude control unit 113 by the inverse matrix of the Jacobian matrix.
  • the torque acquisition unit 121 first acquires the current value of the torque at the corresponding joint (step ST501).
  • the torque control unit 122 calculates the torque control command value based on the current value of the torque at the corresponding joint and the torque command value calculated by the main control unit 11 (step ST502).
  • the subtractor 1221 subtracts the current value of the torque acquired by the torque acquisition unit 121 from the command value of the torque calculated by the main control unit 11, and the PI control unit 1222 uses the subtractor 1221. By performing PI control based on the subtraction result, a command value for torque control is obtained.
  • the joint angle control unit 124 calculates the command value of the angular velocity control based on the command value of the angular velocity calculated by the main control unit 11 (step ST503).
  • the speed conversion unit 1241 converts the current value of the angle at the corresponding joint into the current value of the angular velocity
  • the subtractor 1243 converts the speed from the command value of the angular velocity calculated by the main control unit 11.
  • the current value of the angular velocity obtained by the unit 1241 is subtracted, and the PI control unit 1244 performs PI control based on the subtraction result by the subtractor 1243 to obtain a command value for the angular velocity control.
  • the command value synthesizing unit 125 synthesizes the torque control command value calculated by the torque control unit 122 and the angular velocity control command value calculated by the joint angle control unit 124 (step ST504).
  • the adder 1251 adds the torque control command value calculated by the torque control unit 122 and the angular velocity control command value calculated by the joint angle control unit 124.
  • the command value (current command value), which is the result of synthesis by the command value synthesis unit 125, is output to the motor 21.
  • the feedback system is configured by the main control unit 11b. That is, in the robot control device 1b, the feedback control calculation is performed by a component having a physical and communication distance from the robot 2. Therefore, the delay from the detection of torque by the torque sensor 23 to the input of the command value to the motor 21 becomes long. As a result, in the robot control device 1, there is inevitably more room for wasted time, which is a factor that suppresses high gain that can maintain stability. Moreover, since the dead time itself is not an element that can be canceled by lead compensation or the like, an adverse effect on the response time is unavoidable.
  • the main control unit 11 does not perform the calculation for the force control, but the joint control unit 12 performs the calculation for the torque control to obtain torque.
  • the delay from the detection of torque by the sensor 23 to the input of the command value to the motor 21 is shortened, and the room for wasted time can be reduced. That is, the robot control device 1 according to the first embodiment can also make adjustments (gain adjustment of one-variable control for each joint) corresponding to high gain of the controller that can maintain stability.
  • FIG. 6 is a diagram for explaining the effect of the robot control device 1 according to the first embodiment.
  • FIG. 6A is a diagram showing an example of a simulation result when the robot control device 1 according to the first embodiment is used
  • FIG. 6B shows an example of a simulation result when the conventional robot control device 1b is used. It is a figure.
  • FIG. 6 shows a simulation result when an object is pressed in the Z-axis direction by the robot 2.
  • the target value of the pressing force by the robot 2 is 10 [N].
  • the horizontal axis represents time [s]
  • the vertical axis represents the pressing force of the robot 2 in the Z-axis direction. In this case, as shown in FIG.
  • the time (setting time) until the pressing force of the robot 2 in the Z-axis direction is set to the target value is 3.03. It is [s].
  • the settling time is 0.47 [s]. That is, when the robot control device 1 according to the first embodiment is used, the pressing force in the Z-axis direction by the robot 2 is set to the target value in a shorter time than when the conventional robot control device 1b is used. You can see that it is doing.
  • the gain from the calculation of the force deviation to the calculation of the speed command value in the conventional robot control device 1b is ⁇ 2.0 ⁇ 10 -3 .
  • the equivalent gain corresponding to the gain from the calculation of the force deviation to the calculation of the speed command value in the robot control device 1 according to the first embodiment is ⁇ 9.2 ⁇ 10 -3. .. That is, it can be seen that the robot control device 1 according to the first embodiment can realize force control with a higher gain than the conventional robot control device 1b. Since the robot control device 1 according to the first embodiment does not actually calculate the speed command value from the force deviation, the gain shown above is not an actual gain but a converted value.
  • the torque control of a single unit can be realized by setting the gain related to speed control to 0, and the normal speed control can be realized by setting the gain related to torque control to 0. it can.
  • the robot control device 1 is based on the command value of the force, the command value of the position and posture, and the current value of the angle of each joint of the robot 2, for each joint.
  • the main control unit 11 that calculates the torque command value and the position / attitude control command value, and the current value of the torque at each joint provided by the robot 2 and the torque calculated by the main control unit 11 It is provided with a joint control unit 12 that calculates a command value for a motor 21 provided in a corresponding joint based on a command value and a command value for position / attitude control.
  • the joint angle control unit 124 is provided in the joint control unit 12 in the first embodiment.
  • the present invention is not limited to this, and the joint angle control unit 124 may be provided in the main control unit 11.
  • the joint angle control unit 124 is not an essential configuration and may be removed from the robot control device 1.
  • the joint control unit 12 calculates the angular velocity control command value using the angular velocity command value (position / orientation control command value) calculated by the main control unit 11, and then calculates the torque control command.
  • the case where the value and the command value of the angular velocity control are combined is shown.
  • the joint control unit 12 synthesizes the torque control command value and the angular velocity command value (command value for position / attitude control) calculated by the main control unit 11, and then uses the combined result.
  • the command value of the angular velocity control may be calculated.
  • 7 and 8 are diagrams showing a configuration example of the robot control device 1 according to the second embodiment. The robot control device 1 according to the second embodiment shown in FIGS.
  • the command value combining unit 126 synthesizes the command value of the angular velocity (command value of position / attitude control) calculated by the main control unit 11 and the command value of torque control calculated by the torque control unit 122.
  • the command value synthesizing unit 126 has an adder 1261.
  • the adder 1261 adds the command value of the angular velocity calculated by the main control unit 11 and the command value of the torque control calculated by the torque control unit 122.
  • the joint angle control unit 127 calculates the command value for angular velocity control based on the synthesis result by the command value synthesis unit 126.
  • the joint angle control unit 127 has a speed conversion unit 1271 and a speed control unit 1272.
  • the speed control unit 1272 includes a subtractor 1273 and a PI control unit 1274.
  • the speed conversion unit 1271 converts the current value of the angle at the corresponding joint into the current value of the angular velocity.
  • the subtractor 1273 subtracts the current value of the angular velocity obtained by the speed conversion unit 1271 from the synthesis result by the command value synthesis unit 126.
  • the PI control unit 1274 obtains a command value for angular velocity control by performing PI control based on the subtraction result by the subtractor 1273.
  • the command value (current command value) of the angular velocity control calculated by the joint angle control unit 127 is output to the motor 21 provided in the corresponding joint.
  • the command value of the position / attitude control and the command value of the torque control are combined, and the angular velocity control is performed based on the combined result.
  • the robot control device 1 according to the second embodiment also has the same effect as the robot control device 1 according to the first embodiment. Further, the robot control device 1 according to the second embodiment has a correspondence relationship close to that of the conventional compliance control.
  • any combination of each embodiment, modification of any component of each embodiment, or omission of any component in each embodiment is possible. is there.
  • the joint angle control unit controls the speed, but it is also possible to control the position and posture through the control of other physical quantities such as acceleration or current. ..
  • the robot control device can improve the force control performance as compared with the conventional configuration, and is suitable for use in a robot control device or the like capable of simultaneously controlling the position and orientation of the robot and the force.
  • Robot control device Robot 11 Main control unit 12 Joint control unit 21 Motor 22 Sensor 23 Torque sensor 24 Encoder 111 Torque command value conversion unit 112 Position / orientation calculation unit 113 Position / orientation control unit 114 Command value conversion unit 121 Torque acquisition unit 122 Torque Control unit 123 Motor control unit 124 Joint angle control unit 125 Command value synthesis unit 126 Command value synthesis unit 127 Joint angle control unit 1111 Coefficient multiplication unit 1131 Deviation calculator 1132 Coefficient multiplication unit 1141 Coefficient multiplication unit 1221 Subtractor 1222 PI control unit 1241 Speed conversion unit 1242 Speed control unit 1243 Subtractor 1244 PI control unit 1251 Adder 1261 Adder 1272 Speed conversion unit 1272 Speed control unit 1273 Subtractor 1274 PI control unit

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

La présente invention comprend : une unité de commande principale (11) qui calcule une valeur de commande de couple pour chaque articulation et une valeur de commande d'un réglage de position et d'orientation sur la base d'une valeur de commande de force, une valeur de commande de position et d'orientation, et la valeur d'angle courant pour chaque articulation comprise dans le robot (2); et une unité de commande d'articulation (12) qui est disposée au niveau de chaque articulation présente dans le robot (2), et calcule une valeur de commande pour un moteur (21) disposé à chaque articulation correspondante sur la base de la valeur de couple courante au niveau de l'articulation correspondante, et de la valeur de commande de couple et de la valeur de commande du réglage de position et d'orientation calculée par l'unité de commande principale (11).
PCT/JP2020/008100 2019-03-11 2020-02-27 Dispositif de commande de robot et procédé de commande de robot Ceased WO2020184203A1 (fr)

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JP2019043626A JP7300854B2 (ja) 2019-03-11 2019-03-11 ロボット制御装置及びロボット制御方法
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