CN116922368A - Robot control method - Google Patents
Robot control method Download PDFInfo
- Publication number
- CN116922368A CN116922368A CN202210346550.3A CN202210346550A CN116922368A CN 116922368 A CN116922368 A CN 116922368A CN 202210346550 A CN202210346550 A CN 202210346550A CN 116922368 A CN116922368 A CN 116922368A
- Authority
- CN
- China
- Prior art keywords
- robot
- rotating shaft
- resonance
- control method
- planning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
技术领域Technical field
本发明涉及机器人的控制方法。The present invention relates to a method for controlling a robot.
背景技术Background technique
在机器人以构成其关节部的转轴的转速落在共振区域内的动作速度进行动作时，机器人会大幅振动。When the robot operates at an operating speed at which the rotational speed of the rotating shaft constituting its joints falls within the resonance region, the robot will vibrate significantly.
因此，在机器人以转轴的转速落在共振区域的动作速度持续进行动作时，机器人容易因共振而导致寿命缩短。Therefore, if the robot continues to operate at an operating speed where the rotational speed of the rotating shaft falls within the resonance zone, the life of the robot is likely to be shortened due to resonance.
此外，在机器人大幅振动时，机器人的处理对象(例如被搬运的工件)等可能会产生错位、破损。In addition, when the robot vibrates significantly, the robot's processing object (such as the workpiece being transported) may be dislocated or damaged.
针对上述问题，在以往的机器人的控制方法中，在从上位装置接收到动作指令时，若动作指令所含的转轴的转速落在共振区域内，则会向机器人发出避开共振区域的速度指令。In response to the above problem, in the conventional robot control method, when receiving an action command from the host device, if the rotation speed of the rotating shaft included in the action command falls within the resonance area, a speed command to avoid the resonance area will be issued to the robot. .
不过，当动作指令所含的转轴的转速处在共振区域外(例如大于共振区域的最大值)、但因机器人的动作量小而导致转轴的实际转速未达到动作指令所含的转轴的转速时，或者，当机器人具有同时动作的多个转轴、且动作指令所涉及的转轴配合其以外的转轴进行动作时，如图4所示，动作指令所涉及的转轴仍可能以共振区域内的转速进行转动，因此，机器人仍可能会因共振而导致寿命缩短。However, when the rotation speed of the rotation axis included in the action command is outside the resonance area (for example, greater than the maximum value of the resonance area), but the actual rotation speed of the rotation axis does not reach the rotation speed of the rotation axis included in the action command due to the small amount of movement of the robot, , or when the robot has multiple rotating axes that move simultaneously, and the rotating axis involved in the action command moves in conjunction with other rotating axes, as shown in Figure 4, the rotating axis involved in the action command may still move at a rotational speed within the resonance area. rotation, so the robot may still experience shortened life due to resonance.
发明内容Contents of the invention
本发明正是鉴于上述问题而完成的，目的在于提供一种机器人的控制方法，有助于避免机器人因共振而导致寿命缩短。The present invention is completed in view of the above problems, and aims to provide a control method for a robot that helps avoid shortening the life of the robot due to resonance.
为了实现上述目的，本发明提供一种机器人的控制方法，所述机器人具有构成关节部的转轴，其中，包括：初次规划步骤，根据动作指令，进行所述机器人的动作规划，获得所述转轴的转速；判断步骤，对通过所述初次规划步骤而获得的所述转轴的转速是否在共振区域内进行判断；以及变更步骤，在所述判断步骤中判断为所述转轴的转速处在所述共振区域内时，再次进行所述机器人的动作规划，以使获得的所述转轴的转速避开所述共振区域。In order to achieve the above object, the present invention provides a control method for a robot. The robot has a rotating shaft constituting a joint part, which includes: an initial planning step. According to the action instructions, the action planning of the robot is carried out to obtain the rotation axis. Rotation speed; a judgment step to judge whether the rotation speed of the rotating shaft obtained through the initial planning step is within the resonance area; and a change step, in the judgment step, it is judged that the rotation speed of the rotating shaft is in the resonance area When the robot is within the resonance area, the action planning of the robot is performed again so that the obtained rotational speed of the rotating shaft avoids the resonance area.
根据本发明的机器人的控制方法，包括：初次规划步骤，根据动作指令，进行机器人的动作规划，获得转轴的转速；判断步骤，对通过初次规划步骤而获得的转轴的转速是否在共振区域内进行判断；以及变更步骤，在判断步骤中判断为转轴的转速处在共振区域内时，再次进行机器人的动作规划，以使获得的转轴的转速避开共振区域，因此，即使机器人的动作量小或者动作指令所涉及的转轴配合其以外的转轴进行动作时，也能避免动作指令所涉及的转轴以共振区域内的转速进行转动，从而能避免机器人因共振而导致寿命缩短。The control method of a robot according to the present invention includes: an initial planning step, in which the action planning of the robot is carried out according to the action instructions, and the rotation speed of the rotating shaft is obtained; and a judgment step, in which the rotation speed of the rotating shaft obtained through the initial planning step is within the resonance area. Judgment; and a change step. When it is determined in the judgment step that the rotational speed of the rotating shaft is within the resonance area, the robot's action planning is performed again so that the obtained rotational speed of the rotating shaft avoids the resonance area. Therefore, even if the robot's movement amount is small or When the rotation axis involved in the action command cooperates with other rotation axes, it can also prevent the rotation axis involved in the action command from rotating at a speed within the resonance area, thereby avoiding the shortening of the life of the robot due to resonance.
此外，在本发明的机器人的控制方法中，优选在所述判断步骤中判断为所述转轴的转速处在所述共振区域内时，在所述变更步骤中，再次进行机器人的动作规划，以使获得的所述转轴的转速小于所述共振区域的最小值。In addition, in the robot control method of the present invention, it is preferable that when it is determined in the determination step that the rotation speed of the rotating shaft is within the resonance region, in the changing step, the action planning of the robot is performed again, so as to The obtained rotation speed of the rotating shaft is smaller than the minimum value of the resonance area.
根据本发明的机器人的控制方法，在变更步骤中，在判断步骤中判断为转轴的转速处在共振区域内时，再次进行机器人的动作规划，以使获得的转轴的转速小于共振区域的最小值，因此，能更有效地避免机器人因共振而导致寿命缩短。According to the robot control method of the present invention, in the changing step, when it is determined in the judging step that the rotational speed of the rotating shaft is within the resonance area, the action planning of the robot is performed again so that the obtained rotational speed of the rotating shaft is less than the minimum value of the resonance area. , Therefore, it can more effectively prevent the robot from shortening its life due to resonance.
此外，在本发明的机器人的控制方法中，优选所述转轴设有多个。Furthermore, in the robot control method of the present invention, it is preferable that a plurality of rotating shafts are provided.
此外，在本发明的机器人的控制方法中，优选所述机器人具有：基座部；臂部，该臂部的基端部通过作为所述转轴的第一转轴能转动地连接于所述基座部；以及手部，该手部通过作为所述转轴的第二转轴能转动地连接于所述臂部的前端部。Furthermore, in the method of controlling a robot according to the present invention, it is preferable that the robot has: a base portion; and an arm portion, the base end portion of the arm portion being rotatably connected to the base via a first rotating shaft as the rotating shaft. and a hand, which is rotatably connected to the front end of the arm through a second rotating shaft as the rotating shaft.
(发明效果)(invention effect)
根据本发明，机器人的控制方法包括：初次规划步骤，根据动作指令，进行机器人的动作规划，获得转轴的转速；判断步骤，对通过初次规划步骤而获得的转轴的转速是否在共振区域内进行判断；以及变更步骤，在判断步骤中判断为转轴的转速处在共振区域内时，再次进行机器人的动作规划，以使获得的转轴的转速避开共振区域，因此，即使机器人的动作量小或者动作指令所涉及的转轴配合其以外的转轴进行动作时，也能避免动作指令所涉及的转轴以共振区域内的转速进行转动，从而能避免机器人因共振而导致寿命缩短。According to the present invention, the robot control method includes: an initial planning step, in which the action planning of the robot is carried out according to the action instructions, and the rotation speed of the rotating shaft is obtained; and a judgment step, in which it is judged whether the rotation speed of the rotating shaft obtained through the initial planning step is within the resonance area. ; and a change step. When it is determined in the judgment step that the rotational speed of the rotating shaft is within the resonance area, the robot's action planning is performed again so that the obtained rotational speed of the rotating shaft avoids the resonance area. Therefore, even if the robot's movement amount is small or the movement When the rotating axis involved in the instruction moves in conjunction with other rotating axes, it can also prevent the rotating axis involved in the action instruction from rotating at a rotation speed within the resonance area, thereby avoiding the shortening of the robot's life due to resonance.
附图说明Description of the drawings
图1是示意表示应用本发明实施方式的机器人的控制方法的机器人的一例的主视图。FIG. 1 is a front view schematically showing an example of a robot to which a robot control method according to an embodiment of the present invention is applied.
图2是示意表示本发明实施方式的机器人的控制方法的一例的流程图。FIG. 2 is a flowchart schematically showing an example of a robot control method according to the embodiment of the present invention.
图3是示意表示本发明实施方式的机器人的控制方法对共振的抑制情况的图表，其中横轴表示时间，纵轴表示构成关节部的转轴的转速。3 is a graph schematically showing the suppression of resonance by the robot control method according to the embodiment of the present invention, in which the horizontal axis represents time and the vertical axis represents the rotational speed of the rotating shaft constituting the joint part.
图4是示意表示现有的机器人的控制方法对共振的抑制情况的图表，其中横轴表示时间，纵轴表示构成关节部的转轴的转速。4 is a graph schematically showing the suppression of resonance by a conventional robot control method, in which the horizontal axis represents time and the vertical axis represents the rotational speed of the rotating shaft constituting the joint portion.
(符号说明)(Symbol Description)
1 机器人1 robot
11 基座部11 Base part
12 臂部12 arms
121 第一臂部121 First arm
122 第二臂部122 Second arm
13 手部13 hands
S1 转轴S1 shaft
S2 转轴S2 shaft
S3 转轴S3 shaft
具体实施方式Detailed ways
下面，结合图1至图3对本发明实施方式的进行说明，其中，图1是示意表示应用本发明实施方式的机器人的控制方法的机器人的一例的主视图，图2是示意表示本发明实施方式的机器人的控制方法的一例的流程图，图3是示意表示发明实施方式的机器人的控制方法对共振的抑制情况的图表，其中横轴表示时间，纵轴表示构成关节部的转轴的转速，图4是示意表示现有的机器人的控制方法对共振的抑制情况的图表，其中横轴表示时间，纵轴表示构成关节部的转轴的转速。Next, the embodiment of the present invention will be described with reference to FIGS. 1 to 3 . FIG. 1 is a front view schematically showing an example of a robot to which the robot control method according to the embodiment of the present invention is applied. FIG. 2 is a schematic view showing the embodiment of the present invention. FIG. 3 is a flowchart of an example of a robot control method. FIG. 3 is a chart schematically showing the suppression of resonance by the robot control method according to the embodiment of the invention. The horizontal axis represents time, and the vertical axis represents the rotational speed of the rotating shaft constituting the joint part. FIG. 4 is a graph schematically showing the suppression of resonance by the conventional robot control method, in which the horizontal axis represents time and the vertical axis represents the rotational speed of the rotating shaft constituting the joint part.
此处，为方便说明，将相互正交的两个方向设为X方向和Y方向，且将X方向的一侧设为X1，将X方向的另一侧设为X2，将Y方向的一侧设为Y1，将Y方向的另一侧设为Y2。Here, for the convenience of explanation, let two directions that are orthogonal to each other be the X direction and the Y direction, let one side of the X direction be X1, let the other side of the X direction be X2, and let one side of the Y direction Let one side be Y1 and the other side in the Y direction be Y2.
(机器人的结构)(structure of robot)
如图1所示，机器人1是水平多关节型工业用机器人，具有：基座部11；臂部12，该臂部12的基端部通过转轴S1能转动地连接于基座部11；以及手部13，该手部13通过转轴S2能转动地连接于臂部12的前端部。As shown in FIG. 1 , the robot 1 is a horizontal multi-joint industrial robot and has: a base part 11; an arm part 12, the base end of the arm part 12 is rotatably connected to the base part 11 through a rotating shaft S1; and The hand 13 is rotatably connected to the front end of the arm 12 through the rotating shaft S2.
此处，如图1所示，臂部12包括第一臂部121和第二臂部122，第一臂部121的基端部通过构成关节部的转轴S1能转动地连接于基座部11，第二臂部122的基端部通过构成关节部的转轴S3能转动地连接于第一臂部121的前端部，手部13通过构成关节部的转轴S2能转动地连接于第二臂部122的前端部。Here, as shown in FIG. 1 , the arm portion 12 includes a first arm portion 121 and a second arm portion 122 . The base end of the first arm portion 121 is rotatably connected to the base portion 11 through a rotating shaft S1 that constitutes a joint portion. , the base end of the second arm 122 is rotatably connected to the front end of the first arm 121 through the rotating shaft S3 constituting the joint, and the hand 13 is rotatably connected to the second arm through the rotating shaft S2 constituting the joint. 122 front end.
此外，虽未图示，但机器人1具有驱动臂部12和手部13转动的马达，并且，机器人1具有控制部和存储部等，该控制部例如通过存储于存储部的程序对机器人1的动作进行控制。In addition, although not shown in the figure, the robot 1 has a motor that drives the arm 12 and the hand 13 to rotate. The robot 1 also has a control unit and a storage unit. The control unit controls the operation of the robot 1 through, for example, a program stored in the storage unit. Action control.
(机器人的控制方法)(Robot control method)
在本实施方式中，机器人1的控制方法包括：初次规划步骤，根据动作指令(其既可以从上位装置接收获得，也可以从机器人1内的控制部的程序等输出获得)，进行机器人1的动作规划，获得转轴的转速；判断步骤，对通过初次规划步骤而获得的转轴的转速是否在共振区域内进行判断；以及变更步骤，在判断步骤中判断为转轴的转速处在共振区域内时，再次进行机器人1的动作规划，以使获得的转轴的转速避开共振区域。In this embodiment, the control method of the robot 1 includes: an initial planning step. According to the action command (which can be received from a host device or output from a program of the control unit in the robot 1), the robot 1 is executed. The action planning is to obtain the rotation speed of the rotating shaft; the judgment step is to judge whether the rotation speed of the rotating shaft obtained through the initial planning step is within the resonance area; and the change step is to determine in the judgment step that the rotation speed of the rotating shaft is within the resonance area, The action planning of the robot 1 is performed again so that the obtained rotational speed of the rotating shaft avoids the resonance area.
此处，机器人1的动作规划(包括路径规划)例如可基于通过事先进行采样等获得的数据、映射等进行，也可根据插补等方式进行。由于机器人1的动作规划不是本发明的重点，且属于本领域的常规技术，因而此处不再详细展开。Here, the action planning (including path planning) of the robot 1 may be based on, for example, data obtained by sampling in advance, mapping, etc., or may be based on interpolation or other methods. Since the action planning of the robot 1 is not the focus of the present invention and belongs to the conventional technology in this field, it will not be discussed in detail here.
下面，结合图2对机器人1的控制方法包的具体示例进行说明。Next, a specific example of the control method package of the robot 1 will be described with reference to FIG. 2 .
首先，在步骤ST1中，外部的上位装置(未图示)发出动作指令(例如包括目标位置和动作速度)。First, in step ST1, an external host device (not shown) issues an action command (including, for example, a target position and an action speed).
接着，在步骤ST2中，机器人1的控制部根据从上位装置接收到的动作指令进行机器人1的动作规划，获得转轴(例如转轴S1～S3)的转速(例如在整个路径中的转速)。Next, in step ST2, the control unit of the robot 1 performs action planning of the robot 1 based on the action command received from the host device, and obtains the rotational speed (eg, the rotational speed of the entire path) of the rotating shafts (eg, rotating shafts S1 to S3).
然后，在步骤ST3中，机器人1的控制部对通过步骤ST2获得的转轴的转速是否在共振区域内进行判断。Then, in step ST3, the control unit of the robot 1 determines whether the rotational speed of the rotating shaft obtained in step ST2 is within the resonance range.
当步骤ST3中判断为转轴的转速处在共振区域外时，转移到步骤ST4，不对指令速度进行变更。另一方面，当步骤ST3中判断为转轴的转速处在共振区域内时，转移到步骤ST6，再次进行机器人1的动作规划，以使获得的转轴的转速避开共振区域(例如减小转轴的转速)。When it is determined in step ST3 that the rotational speed of the rotating shaft is outside the resonance range, the process proceeds to step ST4 and the command speed is not changed. On the other hand, when it is determined in step ST3 that the rotational speed of the rotating shaft is within the resonance area, the process moves to step ST6 and the action planning of the robot 1 is performed again so that the obtained rotational speed of the rotating shaft avoids the resonance area (for example, by reducing the rotational speed of the rotating shaft). Rotating speed).
然后，在步骤ST5中，使机器人1进行动作，最后结束动作。Then, in step ST5, the robot 1 is caused to operate, and the operation is finally completed.
(本实施方式的主要效果)(Main effects of this embodiment)
根据本实施方式，机器人1的控制方法包括：初次规划步骤，根据动作指令，进行机器人的动作规划，获得转轴的转速；判断步骤，对通过初次规划步骤而获得的转轴的转速是否在共振区域内进行判断；以及变更步骤，在判断步骤中判断为转轴的转速处在共振区域内时，再次进行机器人的动作规划，以使获得的转轴的转速避开共振区域，因此，与图4不同，如图3所示，即使机器人的动作量小或者动作指令所涉及的转轴配合其以外的转轴进行动作时，也能避免动作指令所涉及的转轴以共振区域内的转速进行转动，从而能避免机器人因共振而导致寿命缩短。According to this embodiment, the control method of the robot 1 includes: an initial planning step, in which the action planning of the robot is carried out according to the action instructions, and the rotation speed of the rotating shaft is obtained; and a judgment step, in which the rotation speed of the rotating shaft obtained through the initial planning step is within the resonance area. Make a judgment; and change the step. When it is judged in the judgment step that the rotational speed of the rotating shaft is in the resonance area, the robot's action planning is performed again so that the obtained rotational speed of the rotating shaft avoids the resonance area. Therefore, it is different from Figure 4, as As shown in Figure 3, even if the robot's motion amount is small or the rotation axis involved in the motion command operates in conjunction with other rotation axes, it can still prevent the rotation axis involved in the motion command from rotating at a speed within the resonance area, thus preventing the robot from being Resonance leads to shortened life.
上面结合附图对本发明进行了示例性描述，显然本发明的具体实现并不受上述实施方式的限制。The present invention has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above-mentioned embodiments.
例如，在上述实施方式中，机器人1具有基座部11、臂部12和手部13的是水平多关节型工业用机器人，但并不局限于此，机器人1的具体结构可根据需要适当变更。For example, in the above embodiment, the robot 1 is a horizontal multi-joint industrial robot having a base part 11, an arm part 12 and a hand part 13, but it is not limited to this, and the specific structure of the robot 1 can be appropriately changed as needed. .
此外，在上述实施方式中，机器人1具有多个转轴，但并不局限于此，机器人1也可仅具有一个转轴。In addition, in the above embodiment, the robot 1 has multiple rotating shafts, but it is not limited to this. The robot 1 may also have only one rotating shaft.
此外，在上述实施方式中，在初次规划步骤中，既可获得一个转轴的转速，也可获得多个转轴的转速，与此对应，在判断步骤和变更步骤中，既可对一个转轴的转速进行判断和变更，也可对多个转轴的转速进行判断和变更。In addition, in the above embodiment, in the initial planning step, the rotation speed of one rotating shaft or the rotation speed of multiple rotating shafts can be obtained. Correspondingly, in the judgment step and the changing step, the rotation speed of one rotating shaft can be obtained. It can also judge and change the rotation speed of multiple rotating shafts.
应当理解，本发明在其范围内，能将实施方式中的各个部分自由组合，或是将实施方式中的各个部分适当变形、省略。It should be understood that within the scope of the present invention, various parts in the embodiments can be freely combined, or various parts in the embodiments can be appropriately modified or omitted.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210346550.3A CN116922368A (en) | 2022-03-31 | 2022-03-31 | Robot control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210346550.3A CN116922368A (en) | 2022-03-31 | 2022-03-31 | Robot control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116922368A true CN116922368A (en) | 2023-10-24 |
Family
ID=88377804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210346550.3A Pending CN116922368A (en) | 2022-03-31 | 2022-03-31 | Robot control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116922368A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6337408A (en) * | 1986-08-01 | 1988-02-18 | Matsushita Electric Ind Co Ltd | Controller for industrial robot |
| US20120215357A1 (en) * | 2011-02-22 | 2012-08-23 | Seiko Epson Corporation | Horizontal articulated robot, and method of controlling the same |
| CN103429398A (en) * | 2011-03-08 | 2013-12-04 | 株式会社神户制钢所 | Control device, control method and control program of articulated robot |
| JP2015199149A (en) * | 2014-04-04 | 2015-11-12 | キヤノン株式会社 | Robot control method, robot device, program and record medium |
| JP2016115218A (en) * | 2014-12-16 | 2016-06-23 | 多摩川精機株式会社 | Vibration suppression system, vibration suppression command device, device with vibration damping specification, and robot |
| WO2018119594A1 (en) * | 2016-12-26 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Method, system, and device for vibration regulation and industrial robot |
-
2022
- 2022-03-31 CN CN202210346550.3A patent/CN116922368A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6337408A (en) * | 1986-08-01 | 1988-02-18 | Matsushita Electric Ind Co Ltd | Controller for industrial robot |
| US20120215357A1 (en) * | 2011-02-22 | 2012-08-23 | Seiko Epson Corporation | Horizontal articulated robot, and method of controlling the same |
| CN103429398A (en) * | 2011-03-08 | 2013-12-04 | 株式会社神户制钢所 | Control device, control method and control program of articulated robot |
| JP2015199149A (en) * | 2014-04-04 | 2015-11-12 | キヤノン株式会社 | Robot control method, robot device, program and record medium |
| JP2016115218A (en) * | 2014-12-16 | 2016-06-23 | 多摩川精機株式会社 | Vibration suppression system, vibration suppression command device, device with vibration damping specification, and robot |
| WO2018119594A1 (en) * | 2016-12-26 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Method, system, and device for vibration regulation and industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20170326731A1 (en) | Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component | |
| JP6859756B2 (en) | Control systems, controllers, control methods, and control programs | |
| US10500724B2 (en) | Robot teaching device for correcting robot trajectory | |
| US9186792B2 (en) | Teaching system, teaching method and robot system | |
| CN113787518B (en) | Robot tail end attitude control method, device, equipment and storage medium | |
| CN109648563B (en) | Serial robot motion control method and computer storage medium | |
| JP6743791B2 (en) | Robot system and work manufacturing method | |
| CN116922368A (en) | Robot control method | |
| CN114571447B (en) | Robot control device | |
| JP2017205835A (en) | Control device of manipulator device, control method of the manipulator device, and control program of the manipulator device | |
| JP7447568B2 (en) | Simulation equipment and programs | |
| JP2012051043A (en) | Robot system or robot control device | |
| CN111136652B (en) | Speed reducer system and manufacturing thereof, correction data generation and correction method, robot | |
| JP2021192944A (en) | Robot system, control device, and control method | |
| US11717961B2 (en) | Robot control method and robot control device | |
| JP2017035756A (en) | Robot control device suppressing vibration of tool tip end of robot having travel shaft | |
| JP7441335B2 (en) | Motion generation device, robot system, motion generation method, and motion generation program | |
| CN117120216A (en) | Robot system, control method therefor, and control program | |
| US20250242495A1 (en) | Robot control with path generation | |
| JP2020069616A (en) | Motor driving device, robot driving system and motor driving program | |
| US20240424677A1 (en) | Control system and control method | |
| CN114466733B (en) | Robot control method and robot control device | |
| JP7311971B2 (en) | ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD | |
| JP2019166602A (en) | Determination device, determination method and determination program | |
| JP2000222019A (en) | Mechanism controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |