| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller capable of correctly and surely preventing a runaway of a robot joint and the whole robot without need of calculating and storing operation range data of each joint of the robot in advance even if an operation range or an operation track of the robot is momentarily changed and unknown load is suddenly applied. SOLUTION: A method of determining a runaway of the robot includes the steps of: controlling a joint position by outputting a torque instruction to the joint of the robot based on the joint position and a joint instruction position every constant period, storing the torque instruction and the joint position during a previous period, calculating various condition estimation values including a joint position estimation value during a current period by a disturbance observer using the torque instruction and the joint position during the previous period, determining that an actuator for driving the joint goes out of control when an absolute value of a difference between the joint position estimation value and the joint position during the current period is larger than a predetermined position error threshold, and determining the runaway of the robot using runaway determination results of each joint. COPYRIGHT: (C)2010,JPO&INPIT |
