A robot control method, and associated robot controllers and robots operating with such methods and controllers, providing real-time vibration suppression. The control method involves learning to support real-time, vibration-suppressing control. The method uses state-of-the-art machine learning techniques in conjunction with a differentiable dynamics simulator to yield fast and accurate vibration suppression. Vibration suppression using offline simulation approaches that can be computationally expensive may be used to create training data for the controller, which may be provide by a variety of neural network configurations. In other cases, sensory feedback from sensors onboard the robot being controlled can be used to provide training data to account for wear of the robot's components.

A robot control device includes manual pulse generation units that generate pulses having a pulse number depending on an operation amount of an operator, command signal calculation units that calculate an operation command signal to a robot based on a pulse number to be input, and a pulse number limiting unit that limits, to a threshold, the pulse number to be input into the command signal calculation units, in a case or cases where the pulse number generated by the manual pulse generation units is larger than the predetermined threshold, where, in a case or cases where the pulse number generated by the manual pulse generation units is equal to or less than the threshold, the pulse number is output as it is.

A vibration display device including a vibration acquisition unit that acquires a vibration state of a distal end section of a robot that is a robot in a simulation or in a real world, the distal end section being moved based on an operation program, and a vibration trajectory drawing unit that draws, on a display device, the vibration state along a trajectory of the distal end section of the robot or that draws, on the display device, the vibration state as the trajectory.

The present invention is a control device which includes a filter unit for performing an attenuation process at a predetermined frequency on a control input based on a predetermined target command, generates the control input through model predictive control executed by a model predictive control unit and causes an output of a predetermined control object to follow the predetermined target command. A prediction model defines a correlation between the control input and predetermined extended state variables including a state variable related to a predetermined control object and a predetermined filter state variable related to the filter unit, and a predetermined evaluation function for model predictive controls configured to calculate a state quantity cost that is a stage cost with respect to state variables except the predetermined filter state variable among the predetermined extended state variables, and a control input cost that is a stage cost related to the control input.

A method and a robot controller for controlling a robot arm, where the robot arm comprises a plurality of robot joints connecting a robot base and a robot tool flange, where each of the robot joints comprises an output flange movable in relation to a robot joint body and a joint motor configured to move the output flange in relation to the robot joint body. The robot arm is controlled based on vibrational properties of at least one external object connected to the robot arm, where the vibrational properties are received via an external object installation interface by generating control signals for said robot arm based on a target motion and the received vibrational properties of the at least one external object, the control signal comprises control parameters for said joint motor.

A mechanical arm system includes at least two links, at least two control devices and at least two motor devices. Each of the control devices includes a first control unit, a mechanical arm control unit and a driving unit. The first control unit receives an end-position command to output a first torque signal. The mechanical arm control unit includes a rigid mechanical unit and a mechanical model unit. The rigid mechanical unit receives the first torque signal to obtain a rigid mechanical torque, and the mechanical model unit receives the rigid mechanical torque and operates the flexible mechanical model to establish the mechanical arm model for obtaining the target torque, and the target position signal is output according to the target torque. The driving unit generates a driving signal according to the target position signal to adjust a rotation angle of the corresponding motor device.

The purpose of the present invention is to provide a control device for a machine tool that can reliably chop chips while suppressing vibration of the machine tool. A control device (1) for a machine tool machines by relatively oscillating a tool and a workpiece, the control device comprising: an oscillation command generation unit (13) that calculates an oscillation amplitude and an oscillation frequency from a machining condition and generates an oscillation command; and a position-speed control unit (17) that relatively oscillates the tool and the workpiece on the basis of a superimposed command generated by superimposing the oscillation command generated by the oscillation command generation unit (13) on a position command or a position deviation. The oscillation command generation unit (13) changes the oscillation amplitude and/or the oscillation frequency during machining.

A robot apparatus is provided on a stand and includes a control apparatus that controls the robot apparatus. The control apparatus calculates vibration generated on the stand based on model data of the stand and trajectory data of an operation of the robot apparatus and corrects the trajectory data based on the vibration.

A control device includes a second-control-signal generating section configured to reduce a predetermined frequency component from a first control signal for performing operation for moving a movable section of the robot to generate a second control signal and a storing section having stored therein reference information including information concerning combinations of ranges of positions of a control point of the robot and frequencies. The second-control-signal generating section determines, based on a position of the control point of the robot in the operation, with reference to the reference information, a frequency component to be reduced from the first control signal.

Provided is a method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm. The method includes a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector, a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step, and a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.