Robot system and control method of robot system

专利名称：Robot system and control method of robot

system

发明人：坪井 信高申请号：JP20181635申请日：20180831公开号：JP2020011367A公开日：20200123

专利附图：

摘要：Problem to be solved: to provide a robot system capable of suppressing thevibration of a robot arm caused by an angle transmission error of a speed reducer andimproving the trajectory accuracy. A robot arm 4 having a plurality of joints including a

first joint 7 and a second joint 8The first reduction gear 13 andA first joint drive part 9having a first motor 11 for rotating a first joint through a first speed reducerJoint controlunit 21A second joint drive part 10 having a second motor 16 for rotating the second jointandA detection section 17 for obtaining information of the actual operation of the outputshaft 16A of the second motor andThe second joint control part 26 comprisesJointcontrol unitThe angular position of the output shaft 13b of the first reduction gearincluded in the second current value I2 or the time change of the actual operation of theoutput shaft of the second motorBased on the same frequency component as thefrequency of periodic change in angular velocity or torqueEstimation of vibration of arobot arm around a rotating axis of a second jointThe operation of the output shaft ofthe second motor is corrected so as to suppress the vibration of the estimated robotarm.Diagram

申请人：川崎重工業株式会社

地址：兵庫県神戸市区東川崎町３丁目１番１号

国籍：JP

代理人：特許業務法人 有古特許事務所

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