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公开(公告)号：US11298819B2
公开(公告)日：2022-04-12
申请号：US16548295
申请日：2019-08-22
Inventor： Hiroyuki Nakata , Atsumi Hashimoto , Ryosuke Yamamoto , Yasuyoshi Honuchi
Abstract: A robot control method of controlling motion of a robot arm by using a servo motor includes adding d-axis electric current to a motor electric current command (steps 15-6, 15-8) if external temperature is less than or equal to a predetermined value (step 15-3), and if an absolute value of the motor electric current command is less than or equal to a predetermined value (step 15-4), and if a value of detected overload is less than or equal to a predetermined value (step 15-5).
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公开(公告)号：US11161242B2
公开(公告)日：2021-11-02
申请号：US16426571
申请日：2019-05-30
Inventor： Ryosuke Yamamoto , Hiroyuki Nakata , Atsumi Hashimoto , Yasuyoshi Honuchi
Abstract: In a robot having a first rotary shaft and a second rotary shaft driven by respective motors and extending in the same direction, the second rotary shaft is rotated while vibrating the first rotary shaft that is holding a load directly or indirectly, thereby rotating the first rotary shaft relative to a load. This enables calculating the gravitational torque of the load applied to the first rotary shaft.
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公开(公告)号：US10882183B2
公开(公告)日：2021-01-05
申请号：US16316041
申请日：2017-05-09
Inventor： Hiroyuki Nakata , Atsumi Hashimoto , Yasuyoshi Honuchi , Ryosuke Yamamoto
IPC: B25J9/16 , B25J9/10 , G05B19/404 , B23K9/12 , B25J11/00
Abstract: A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.
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