专利名称：Robot apparatus and robot controlling
method
发明人：Negishi, Mahito申请号：EP14178882.8申请日：20140729公开号：EP2835228A2公开日：20150211
专利附图：
摘要：A robot apparatus 1 includes: a multi-articulated robot 2; and a controller 3 thatdrive-controls the multi-articulated robot 2 based on an input motion command. Thecontroller 3 includes: a joint angle computing unit 32 that computes each joint angle
command for driving the multi-articulated robot 2 based on the motion command; aservo controlling apparatus 30 that moves the multi-articulated robot 2 by rotationallydriving each rotational joint based on the joint angle command computed by the jointangle computing unit 32; a singular point calculating unit 51 that calculates a distancebetween the multi-articulated robot 2 and a singular point of the multi-articulated robot2; and a maximum joint angle deviation adjusting unit 52 that limits a maximum rotationspeed of a rotational joint specified in advance based on a singular point type, if thesingular point distance becomes smaller than a predetermined value.
申请人：CANON KABUSHIKI KAISHA
地址：30-2, Shimomaruko 3-chome Ohta-ku Tokyo 146-8501 JP
国籍：JP
代理机构：TBK
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