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AssigneeCanon Kabushiki Kaisha
InventorsTakahiro Ishikawa, Tsutomu Osaka, Shunsuke Kawamura
Estimating the term…
Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.
A robot apparatus comprising:
A method to control a robot apparatus to manufacture an article, wherein the robot apparatus includes an articulated robot, including a plurality of joints, and a vibration measuring apparatus configured to measure vibrations of a predetermined portion of the articulated robot, wherein the vibration measuring apparatus and a detector are disposed at each of the plurality of joints, the method comprising:
Dependencies are inferred from the claim text.