Control apparatus
US10727104B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 23, 2018 |
| Grant date | Jul 28, 2020 |
| Priority date | — |
| Expiry date | Oct 24, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40042
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
In order to solve a problem that a large load is applied to a particular shaft of a transfer robot in accordance with acceleration during transfer of a transfer target, a control apparatus for controlling a transfer robot having a hand portion and an arm portion includes: a calculating portion that calculates an inclination angle that is an angle of a leading shaft, which is a horizontal shaft on a leading end side of the arm portion, and a vertical velocity that is a velocity in an upper-lower direction of the hand portion such that, during movement of the transfer target, among moments that are applied to the leading shaft, a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other, and that a normal velocity component that is a velocity component of the hand portion in a normal direction of the transfer target is reduced; and a control portion that controls the arm portion according to a result of the calculation. Since control is performed such that the first and second moments are allowed to weaken each other, it is possible to reduce loads that are applied to the leading shaft during movement.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.