Robot apparatus, robot controlling method, program and recording medium
US9505133B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Dec 5, 2014 |
| Grant date | Nov 29, 2016 |
| Priority date | — |
| Expiry date | Dec 5, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/30
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.