ROBOT AND ROBOT CONTROLLER

摘要

A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.

主权项

1. A robot controller for controlling a robot, the robot having a movable arm and an angular velocity sensor provided at the arm, the robot controller comprising:
a servo circuit configured to perform vibration suppression control based on a detection result of the angular velocity sensor; and an operation mode setting unit that sets an operation mode of the robot, the operation mode including a first operation mode, a second operation mode prioritizing speed; and a third operation mode prioritizing vibration suppression, wherein: the operation mode setting unit changes a correction factor multiplied by a maximum acceleration and a maximum deceleration of the arm and a servo gain of the servo circuit, and selectively sets the operation mode as one of the first operation mode, the second operation mode in which the arm operates faster than in the first operation mode, and the third operation mode in which the arm vibrates less than in the first operation mode.