公开(公告)号：US20200180154A1

公开(公告)日：2020-06-11

申请号：US16626177

申请日：2018-06-19

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Nobutaka TSUBOI

IPC: B25J9/16 ,  B25J17/02 ,  G05B19/23

Abstract: A robot system has first and second joint control units that respectively calculate first and second current values to be supplied to first and second motors based on deviations between first and second operation targets for the motors that are input from a higher device and actual operation of output shafts of the motor, and control operation of the output shafts by supplying current to the motors based on the current values, and an error estimation unit estimating an error in operation of a second joint due to bending and/or twisting of a robot arm based on the first current value and the actual operation of the output shaft of the first motor, in which the second joint control unit calculates the second current value to control the rotation angle of the output shaft of the second motor in a manner compensating for an angle error of the second joint.

公开(公告)号：US20240351201A1

公开(公告)日：2024-10-24

申请号：US18638817

申请日：2024-04-18

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Tomohisa URAKAMI ,  Nobutaka TSUBOI

IPC: B25J9/16 ,  B25J9/06 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/06 ,  B25J9/1607 ,  B25J9/163 ,  B25J13/088

Abstract: A robot according to this disclosure includes a robot body including an arm including a plurality of links, a plurality of driving axis units configured to drive the plurality of links, and an inertia sensor(s) included in the arm; and a controller configured to acquire a compensation amount(s) for vibration based on a detection result(s) of the inertia sensor(s) acquired by executing at least one of correction of an inclination(s) of the inertia sensor(s) relative to a to-be-compensated driving axis unit(s), which is/are the driving axis unit(s) that is/are to be subjected to compensation, and elimination of a gravitational acceleration component(s) included in a detection result(s) that is/are detected by the inertia sensor(s).

公开(公告)号：US20200180153A1

公开(公告)日：2020-06-11

申请号：US16614510

申请日：2018-05-17

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Nobutaka TSUBOI

IPC: B25J9/16 ,  B25J9/10

Abstract: a speed reducer angular transmission error identification system including a variation data acquisition unit that acquires first variation data indicating a periodic variation of an operation of a second joint caused by a first motor's angular transmission error when a first joint control unit rotates a first motor's output shaft in a first direction at a constant first target speed and a second joint drive unit rotates an output shaft of a second motor at a constant second target speed, second variation which is data indicating a periodic variation of an operation of second joint caused by the first motor's angular transmission error when the first joint control unit rotates the first motor's output shaft in a second direction at the constant first target speed and the second joint control unit rotates the second motor's output shaft at the constant second target speed.

公开(公告)号：US20200180149A1

公开(公告)日：2020-06-11

申请号：US16614410

申请日：2018-05-17

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Nobutaka TSUBOI

IPC: B25J9/16 ,  B25J9/12 ,  G05B19/416 ,  G05B19/19

Abstract: A motor control system including an input shaft connected to an output shaft of the motor and an output shaft connected to a load, the system including: a detection unit for detecting a rotation speed of the output shaft; a speed deviation generation unit generating a speed command position and calculates a speed deviation between the speed command and rotation speed of the output shaft; an angular transmission error compensation unit estimated between a rotation angle of the output shaft and of the speed reducer, and corrects the speed command, speed deviation, or rotation speed of the output shaft detected based on the event detected by the detection unit, based on the estimated angular transmission error; a current command generation unit generates a current command based on the speed deviation; and a current control unit controls a current supplied to the motor based on the current command.