ROBOT APPARATUS AND ROBOT CONTROLLING METHOD

摘要

A robot apparatus 1 includes: a multi-articulated robot 2; and a controller 3 that drive-controls the multi-articulated robot 2 based on an input motion command. The controller 3 includes: a joint angle computing unit 32 that computes each joint angle command for driving the multi-articulated robot 2 based on the motion command; a servo controlling apparatus 30 that moves the multi-articulated robot 2 by rotationally driving each rotational joint based on the joint angle command computed by the joint angle computing unit 32; a singular point calculating unit 51 that calculates a distance between the multi-articulated robot 2 and a singular point of the multi-articulated robot 2; and a maximum joint angle deviation adjusting unit 52 that limits a maximum rotation speed of a rotational joint specified in advance based on a singular point type, if the singular point distance becomes smaller than a predetermined value.

主权项

1. A robot apparatus comprising:
a multi-articulated robot including a plurality of rotational joints; and a controlling apparatus that drive-controls the multi-articulated robot based on an input motion command, wherein the controlling apparatus includes: a joint angle computing unit that computes a joint angle command of each of the plurality of rotational joints, the joint angle command being for driving the multi-articulated robot based on the motion command; a joint drive controlling unit that moves the multi-articulated robot by rotationally driving each of the plurality of rotational joints based on the joint angle command computed by the joint angle computing unit; a singular point calculating unit that calculates one of a singular point angle and a singular point distance of each of the plurality of rotational joints to a singular point of the multi-articulated robot; and a joint speed limiting unit that limits a rotation speed of a rotational joint specified in advance based on a type of the singular point, if one of the singular point angle and the singular point distance calculated by the singular point calculating unit becomes smaller than a predetermined value.