US 12,290,926 B2
Robot control based on equivalent mass matrix
Keita Shimamoto, Fukuoka (JP); and Toshiyuki Murakami, Yokohama (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed on Feb. 6, 2023, as Appl. No. 18/164,627.
Claims priority of application No. 2022-018554 (JP), filed on Feb. 9, 2022.
Prior Publication US 2023/0249339 A1, Aug. 10, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1607 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1653 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot control system comprising circuitry configured to:
acquire velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis;
select an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to the velocity being zero and a second equivalent mass matrix corresponding to the velocity not being zero; and
generate a control signal for controlling the robot based on the selected equivalent mass matrix.