发明名称 |
CONTROL DEVICE FOR COMPENSATION OF ELASTIC DEFORMATION OF ARTICULATED ROBOT |
摘要 |
This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4. |
申请公布号 |
WO2014126218(A1) |
申请公布日期 |
2014.08.21 |
申请号 |
WO2014JP53531 |
申请日期 |
2014.02.14 |
申请人 |
KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.) |
发明人 |
NISHIDA YOSHIHARU;WADA TAKASHI;INOUE YOSHIHIDE;INADA SHUICHI |
分类号 |
B25J9/10;B23K9/022;B23K9/12;G05B11/36;G05B19/4093;G05B19/414;G05D3/12 |
主分类号 |
B25J9/10 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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