Patent EP0251514A2 successfully refreshed from Google Patents.
EP0251514A2
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EP
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Apparatus for controlling industrial multijoint arm robot
Assignee: Toshiba Corp
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Filing: 1987-06-04
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Granted: —
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Expires: 2007-06-04
Abstract
Abstract Disclosed is a control apparatus (14) for a multi-joint manipulator (10) constituting a multijoint robot arm having links (12a, 12b) mechanically and rotatably coupled to each other at joint portions. Actuators (22a, 22b) for rotating the links and angle sensors (24a, 24b), for measuring the amount of link rotation, are provided at the joint portions. The control apparatus (14) includes a driver (30) for the actuators (22a, 22b), a detector (32) for detecting the actually measured data of the links (12a, 12b), in response to the output signals from the sensors (24a, 24b), and a parameter identifier unit (36) which is made operative when it is designated. The parameter identifier unit (36) is automatically connected to the driver unit (30) and the detector (32) via a switch unit (34), only when an initial dynamical model of the manipulator (10) exceeds a predetermined allowance, thereby identifying the dynamical model of the manipulator (10). The identification result is supplied to a parameter computation unit (40), which calculates new manipulator control parameters in accordance with the identification result. The new control parameters are calculated to compensate for a change in the manipulator dynamical model. The new control parameters are transferred to a software servo unit (38), and replace standard control parameters stored therein.
Inventors
- 👤 Koichi C/O Patent Division Osuka
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-30 15:06
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1628; B25J9/163; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/406; G05B19/4062; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37612; G05B2219/45; G05B2219/45083; G05B2219/50; G05B2219/50197
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
205 words
An apparatus (14) for controlling a manipulator (10) which has links rotatably coupled with each other at joint portions thereof to constitute a multijoint robot arm, wherein said manipulator has actuators (22a, 22b) provided at said joint portions (20a, 20b), for rotating said links, and sensors (24a, 24b) provided at said joint portions, for measuring rotation of said links, to produce sensor output signals, characterized in that said apparatus (14) comprises: identification means (36) for identifying a dynamical model of said manipulator and for producing a first electrical signal indicative of an identification result; computation means (40), connected to said identification means, for computing control parameters of said manipulator in accordance with the identification result, and for producing a second electrical signal indicative of new manipulator control parameters calculated so as to compensate for a change in said dynamical model; and software servo means (38), connected to said computation means, for producing, using said new control parameters, a third electrical signal corresponding to a drive sequence control signal of said actuators, necessary for controlling rotating movement of said links, whereby link drive control performed by said software servo means can compensate for the change in said dynamic model, thereby maximizing control accuracy of said apparatus.
Claim 2
Independent Claim
205 words
An apparatus (14) for controlling a manipulator (10) which has links rotatably coupled with each other at joint portions thereof to constitute a multijoint robot arm, wherein said manipulator has actuators (22a, 22b) provided at said joint portions (20a, 20b), for rotating said links, and sensors (24a, 24b) provided at said joint portions, for measuring rotation of said links, to produce sensor output signals, characterized in that said apparatus (14) comprises: identification means (36) for identifying a dynamical model of said manipulator and for producing a first electrical signal indicative of an identification result; computation means (40), connected to said identification means, for computing control parameters of said manipulator in accordance with the identification result, and for producing a second electrical signal indicative of new manipulator control parameters calculated so as to compensate for a change in said dynamical model; and software servo means (38), connected to said computation means, for producing, using said new control parameters, a third electrical signal corresponding to a drive sequence control signal of said actuators, necessary for controlling rotating movement of said links, whereby link drive control performed by said software servo means can compensate for the change in said dynamic model, thereby maximizing control accuracy of said apparatus.
Claim 3
Dependent Claim
63 words
The apparatus according to claim 1, characterized in that said software servo means (38) stores virtual control parameters corresponding to an initially- set standard dynamical model of said manipulator, and when said new control parameters are supplied from said computation means (40; to said software servo means (38), said software servo means (38) replaces said standard control parameters with said new control parameters.
Claim 4
Dependent Claim
65 words
The apparatus according to claim 2, characterized by further comprising: mode-designation means (34, 44, 46), connected to said sensors (24a, 24b) and said identification means (36), for monitoring a change in the dynamical model of said manipulator (10), based on said sensor output signals, and for causing said identification means (36) to be operative when a change in the dynamical model exceeds a predetermined level.
Claim 5
Dependent Claim
106 words
The apparatus according to claim 3, characterized by further comprising: drive means (30), connected to said actuators (22a, 22b) of said manipulator (10), for, when said drive means receives said third electrical signal from said software servo means, electrically driving said actuators (22a, 22b) in response to this signal; and detection means (32), connected to said sensors (24a, 24b) of said manipulator (10), for receiving the sensor output signals representing actually measured data of rotation of said links of said manipulator (10), and for detecting a rotating angle and an angular velocity of the corresponding link at each joint portion, based on the sensor output signals.
Claim 6
Dependent Claim
97 words
The apparatus according to claim 4, characterized in that said mode-designation means electrically connects said software servo means (38) to said drive means (30) and said detection means (32) in a normal control mode, and automatically sets said apparatus (14) in a dynamical model-identification mode when a change in the dynamical model of said manipulator (10) exceeds a predetermined level, so that said software servo means (38) is electrically separated from said drive means (30) and said detection means (32), and said identification means is electrically connected to said drive means (30) and said detection means (32).
Claim 7
Dependent Claim
117 words
The apparatus according to claim 5, characterized in that said mode-designation means comprises: switch means (34), connected to said drive means (30), said detection means (32), said identification means (36), and said software servo means (38), for, in a first switching state, electrically connecting said software servo means (38) to said drive means (30) and said detection means (32), and electrically disconnecting said identification means (36) from said drive means (30) and said detection means (32), and for, in a second switching state, electrically connecting said identification means (36) to said drive means (30) and said detection means (32) and electrically disconnecting said software servo means (38) from said drive means (30) and said detection means (32).
Claim 8
Dependent Claim
61 words
The apparatus according to claim 6, characterized in that said mode-designation means further comprises: switch control means (44, 46, 48), connected to said switch means (34), for monitoring a change in the dynamical model of said manipulator, and when a change in the dynamical model exceeds a predetermined level, for automatically switching said switch means (34) to the second switching state.
Claim 9
Dependent Claim
64 words
The apparatus according to claim 7, characterized in that said switch control means includes: difference-detection means (44) for receiving a fourth electrical signal which designates a rotating movement of said links (12) of said manipulator (10) and the sensor output signals from said sensors (24a, 24b), detecting a difference between these input signals, and producing a fifth electrical signal, which represents the detected difference.
Claim 10
Dependent Claim
84 words
The apparatus according to claim 8, characterized in that said switch control means further includes: comparator means (46), connected to said difference-detection means (44), for receiving said fifth electrical signal, comparing the detected difference and a predetermined reference level for defining an allowance, and producing a sixth electrical signal, which designates mode-switching when the detected difference exceeds the reference level, said sixth electrical signal being supplied to said switch means (34), and said switch means being operated in response to said sixth electrical signal.
Claim 11
Dependent Claim
19 words
The apparatus according to claim 9, characterized in that said switch means includes an electrical switch circuit (SW1, SW2).
References Cited (Backward Citations)
No citation records indexed.
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