Control method for robot apparatus, computer readable recording medium, and robot apparatus
US9815202B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 7, 2015 |
| Grant date | Nov 14, 2017 |
| Priority date | — |
| Expiry date | Jul 7, 2035 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/09
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.