Weaving control device for articulated robot
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United States of America Patent
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Nov 29, 2016
Grant Date -
Oct 15, 2015
app pub date -
Oct 15, 2013
filing date -
Oct 19, 2012
priority date (Note) -
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status (Latency Note)
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Abstract
A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.
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