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    Robot controller, robot system, robot control method
    2.
    发明公开
    Robot controller, robot system, robot control method 审中-公开
    机器人控制器，机器人系统，机器人控制方法

    公开(公告)号：EP2617533A1

    公开(公告)日：2013-07-24

    申请号：EP13151284.0

    申请日：2013-01-15

    申请人： Seiko Epson Corporation

    发明人： Inazumi, Mitsuhiro

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1694 ,  B25J9/1605 ,  B25J9/1633 ,  B25J9/1648 ,  B25J9/1664 ,  G05B19/4086 ,  G05B2219/39343 ,  G05B2219/41124 ,  G05B2219/42092 ,  G05B2219/42267 ,  G06F17/13 ,  Y10S901/02 ,  Y10S901/09

    摘要： A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. The force control unit includes an impedance processing part that obtains a solution of an ordinary differential equation in force control as the correction value before the conversion processing, and a nonlinear conversion part that obtains the correction value after the conversion processing by performing nonlinear conversion processing on the correction value before the conversion processing acquired from the impedance processing part and outputs the obtained correction value after the conversion processing.

    摘要翻译： 机器人控制器包括力控制单元，其基于从力传感器获取的检测到的传感器值来输出机器人的目标轨道的校正值;目标值输出单元，其通过对目标轨道执行校正处理来获得目标值 基于校正值并输出所获得的目标值;以及机器人控制单元，其基于目标值执行机器人的反馈控制。 力控制单元包括：阻抗处理部分，其获得在力控制中的常微分方程的解作为转换处理之前的校正值;以及非线性转换部分，其在转换处理之后通过执行非线性转换处理来获得校正值 在从阻抗处理部分获取的转换处理之前的校正值，并且在转换处理之后输出所获得的校正值。

    VELOCITY-BASED IMPEDANCE CONTROLLER
    4.
    发明公开
    VELOCITY-BASED IMPEDANCE CONTROLLER 有权
    基于速度的阻抗控制器

    公开(公告)号：EP3176662A1

    公开(公告)日：2017-06-07

    申请号：EP16201440.1

    申请日：2016-11-30

    申请人： OMRON CORPORATION

    发明人： KOGA, Tatsuya ,  NAKANISHI, Ryuichiro

    IPC分类号： G05B19/42

    CPC分类号： G05B23/0286 ,  G05B19/416 ,  G05B19/42 ,  G05B2219/39342 ,  G05B2219/39343 ,  G05B2219/42016

    摘要： Problem: The velocity and force of a target is controlled to have a predetermined relationship, independently of changes in the velocity at which the target is driven using a velocity command value and in an external force from the target. Solution: A controller controls a control target, driven to generate a predetermined viscous force as a reaction force, by periodically outputting a command value to the control target using a target value calculated from a command pattern for driving the control target and a feedback value from the control target relative to the target value. A correction operation unit obtains a control physical quantity different from the command value, calculates a correction command value based on a relationship between an error of the obtained control physical quantity from its target value and an error of the feedback value from the target value, and outputs the correction command value to the control target.

    摘要翻译： 问题：目标的速度和力被控制为具有预定关系，与使用速度命令值驱动目标的速度变化以及来自目标的外力无关。 解决方案：控制器通过使用从用于驱动控制目标的指令模式计算出的目标值和来自控制对象的反馈值周期性地向控制对象周期性地输出指令值，来控制被驱动以产生预定的粘性力作为反作用力的控制目标 控制目标相对于目标值。 校正操作单元获得与命令值不同的控制物理量，基于获得的控制物理量与其目标值的误差与反馈值与目标值的误差之间的关系计算校正命令值，以及 将校正指令值输出到控制目标。

    Control system, program, and method of controlling mechanical equipment
    9.
    发明公开
    Control system, program, and method of controlling mechanical equipment 有权
    控制系统，程序和方法，用于控制机器设备

    公开(公告)号：EP2687341A3

    公开(公告)日：2014-12-03

    申请号：EP13177026.5

    申请日：2013-07-18

    申请人： Seiko Epson Corporation

    发明人： Inazumi, Mitsuhiro

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1633 ,  B25J9/1694 ,  G05B2219/39194 ,  G05B2219/39343 ,  G05B2219/40586 ,  Y10S901/46

    摘要： A control system includes a force sensor that has a mechanical mechanism (e.g., an end effector) and N (N is an integer equal to or more than two) triaxial force sensor units, acquires unit output values to which values resulting from the mechanical mechanism have been added from the respective triaxial force sensor units of the N triaxial force sensor units, and outputs force sense values based on the unit output values, a force sense value corrector that corrects the force sense values based on the force sense values output by the force sensor, and a controller that performs control of mechanical equipment (e.g., a robot) including the mechanical mechanism based on the force sense values corrected in the force sense value corrector.

    Robot control apparatus for force control
    10.
    发明公开
    Robot control apparatus for force control 审中-公开
    电源控制机器人控制装置

    公开(公告)号：EP1930131A3

    公开(公告)日：2011-03-02

    申请号：EP07023557.7

    申请日：2007-12-05

    申请人： FANUC CORPORATION

    发明人： Sato, Takashi ,  Iwatake, Takahiro

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1638 ,  B25J9/1633 ,  G05B2219/39178 ,  G05B2219/39194 ,  G05B2219/39319 ,  G05B2219/39341 ,  G05B2219/39343

    摘要： A robot control apparatus (10) for controlling force exerted between a working tool (52) mounted at the forward end of a robot arm (50a) and a workpiece (60) is disclosed. The apparatus includes a force measuring unit (51) for acquiring the force data required for the control operation, a calculating unit (13) for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit (14) for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit (12) for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value. As a result, the workpiece can be accurately machined even in the case where the forward end portion of the robot arm is changed a comparatively great degree in the direction of movement thereof.