Robot controlling method and welding method
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsHiroyuki Nakata, Atsumi Hashimoto, Yasuyoshi Honuchi, Ryosuke Yamamoto
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Abstract
A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.
Claims10
A robot controlling method for operating an arm using a motor, the robot controlling method comprising:
- increasing, in a first period during which the arm is being controlled to be in motion, a backlash compensation value that is added to a position command which is input to the motor;
- and
- reducing, in a second period during which the arm is not being controlled to be in motion, the backlash compensation value added, from the backlash compensation value at an end of the first period.
A welding method for operating an arm having a wire using a motor, and welding a workpiece using the wire, the welding method comprising:
- increasing, in a first period during which the arm is being controlled to be in motion, a backlash compensation value that is added to a position command which is input to the motor;
- reducing, in a second period during which the arm is not being controlled to be in motion, the backlash compensation value, from the backlash compensation value at an end of the first period;
- producing an electric arc between the wire and the workpiece after the arm stops;
- and
- moving the arm to move the wire and welding the workpiece after the electric arc is produced.
Dependencies are inferred from the claim text.