发明名称 |
TRAJECTORY CONTROL DEVICE FOR ARTICULATED ROBOT, AND CONTROL METHOD |
摘要 |
In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (thetac), and outputs a processed joint-angle target value (thetad). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an interference-torque compensation command value calculation unit (200), and outputs a processed interference-torque compensation value (cd). |
申请公布号 |
WO2013180222(A1) |
申请公布日期 |
2013.12.05 |
申请号 |
WO2013JP65054 |
申请日期 |
2013.05.30 |
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;B23K9/095;B23K9/12;G05B19/4093 |
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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