CONTROLLER

Abstract

A controller, for force-controlling a drive source of a controlled object, having a position control circuit inside a force control circuit in order to define a relative position of the controlled object to a workpiece, and a contact force occurred between the workpiece and the controlled object, the controller including a first data acquiring portion for acquiring a time constant of the position control circuit based on a position command value to the drive source and an actual position value, during operations of the controlled object; a second data acquiring portion for acquiring a rigidity value for the controlled object and the workpiece based on a force data obtained when the controlled object is brought into contact with the workpiece; and an automatic gain calculating portion for calculating a force control gain of the force control circuit from the time constant of the position control circuit acquired by the first data acquiring portion and the rigidity value acquired by the second data acquiring portion, under conditions where a time constant of the force control circuit is larger than the time constant of the position control circuit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features, and advantages of the present invention will become more apparent from the description of the preferred embodiments as set forth below with reference to the accompanying drawings, wherein:

FIG. 1 is a perspective view showing one embodiment of a robot control system containing a controller according to the present invention;

FIG. 2 is a diagram showing the configuration of the controller shown in FIG. 1;

FIG. 3 is a block diagram showing the flow of a control signal in the controller;

FIG. 4 is a flowchart for explaining a method of force control gain calculation;

FIG. 5 is a block diagram showing a force control circuit by assuming it to be a first-order lag model; and

FIG. 6 is a diagram for explaining how a keyed rod is inserted in a hole.

Claims

1. A controller, for force-controlling a drive source of a controlled object, having a position control circuit inside a force control circuit in order to define a relative position of the controlled object to a workpiece, and a contact force occurred between the workpiece and the controlled object, the controller comprising: a first data acquiring portion for acquiring a time constant of the position control circuit based on a position command value to the drive source and an actual position value, during operations of the controlled object;a second data acquiring portion for acquiring a rigidity value for the controlled object and the workpiece based on a force data obtained when the controlled object is brought into contact with the workpiece; andan automatic gain calculating portion for calculating a force control gain of the force control circuit from the time constant of the position control circuit acquired by the first data acquiring portion and the rigidity value acquired by the second data acquiring portion, under conditions where a time constant of the force control circuit is larger than the time constant of the position control circuit.

2. A controller as claimed in claim 1, wherein the force data is detected by a force sensor which is attached to the controlled object near a position that contacts the workpiece.

3. A controller as claimed in claim 1, wherein the force data is acquired from an electric current value of an actuator that drives the controlled object.

4. A controller as claimed in claim 1, wherein the force control comprises a damping control.