公开(公告)号：US20140163735A1

公开(公告)日：2014-06-12

申请号：US14181729

申请日：2014-02-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ken'ichi YASUDA ,  Hideo NAGATA

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1676 ,  B25J13/081 ,  G05B2219/39183 ,  G05B2219/40219

Abstract: A robot system includes a robot and a robot control device. The robot includes a plurality of links connected to via a plurality of joint axes, servo motors that drive the joint axes, and a contact detection sensor that detects that one of the links touches an object. The robot control device includes a contact position determination unit that determines a contact position of the link based on an output of the contact detection sensor, a retracting direction vector calculation unit that calculates a retracting direction vector in a retracting direction of the link corresponding to the contact position, an assist torque calculation unit that calculates assist torque references for moving the links in the direction of the retracting direction vector, and a flexible control unit that adds the assist torque references to torque references for the servo motors to flexibly control the links.

Abstract translation: 机器人系统包括机器人和机器人控制装置。 机器人包括通过多个关节轴连接的多个连杆，驱动关节轴的伺服电动机，以及检测该一个链接接触物体的接触检测传感器。 所述机器人控制装置包括接触位置确定单元，所述接触位置确定单元基于所述接触检测传感器的输出来确定所述链接的接触位置;回退方向向量计算单元，其计算所述链接对应于所述链接的所述链接的回退方向的退回方向向量; 接触位置，辅助扭矩计算单元，其计算用于沿所述缩回方向矢量的方向移动所述连杆的辅助转矩基准;以及柔性控制单元，其将所述辅助转矩基准与所述伺服电动机的转矩基准相加以灵活地控制所述连杆。

公开(公告)号：US20130213172A1

公开(公告)日：2013-08-22

申请号：US13845295

申请日：2013-03-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ken'ichi YASUDA ,  Takahiro MAEDA

IPC: B25J9/16 ,  B25J17/00 ,  B25J18/00

CPC classification number: B25J9/1674 ,  B25J17/00 ,  B25J18/00 ,  G05B15/00 ,  Y10S901/02 ,  Y10S901/27 ,  Y10T74/20329

Abstract: From a desired wrist joint position and a desired elbow rotation angle, a temporary elbow joint position is calculated on the assumption that a distance between a shoulder joint and an elbow joint is fixed. The shoulder joint has a first axis, a second axis, and a third axis, and the elbow joint has a fourth axis. From the calculated temporary elbow joint position, temporary angles of the first and second axes or temporary angles of the first to fourth axes are determined. The temporary angles are corrected in accordance with at least one evaluation function calculated from the temporary angles.

Abstract translation: 根据期望的腕关节位置和期望的肘关节旋转角度，假设肩关节和肘关节之间的距离是固定的，则计算临时肘关节位置。 肩关节具有第一轴线，第二轴线和第三轴线，并且肘关节具有第四轴线。 从计算出的临时肘关节位置，确定第一轴和第二轴的临时角度或第一至第四轴的临时角度。 临时角度根据从临时角度计算的至少一个评估函数进行校正。