Robot system, method of controlling robot arm, recording medium, and method of manufacturing an article
AssigneeCanon Kabushiki Kaisha
InventorTakahiro Ishikawa
Life of this patent
Estimating the term…
Abstract
A robot system includes a robot arm, and a controller configured to control posture of the robot arm. The controller configured to obtain a first teaching point, and first data on posture of the robot arm determined when the first teaching point is created. The controller configured to move the robot arm in accordance with the first teaching point in a state where the robot arm is supporting the workpiece or nothing, and obtain second data on posture of the robot arm determined when the robot arm has been moved in accordance with the first teaching point. The controller configured to create a second teaching point by correcting the first teaching point based on a difference between the first data and the second data.
Claims14
A robot system comprising:
- a robot arm;
- and
- a controller configured to control posture of the robot arm,
- wherein the controller is configured to:
- obtain a first teaching point created in a state where the robot arm is supporting a tool other than a workpiece to be supported by the robot arm, and first data on posture of the robot arm determined when the first teaching point is created;
- move the robot arm in accordance with the first teaching point in a state where the robot arm is supporting the workpiece or nothing, and obtain second data on posture of the robot arm determined when the robot arm has been moved in accordance with the first teaching point;
- and
- create a second teaching point by correcting the first teaching point based on the first data and the second data.
A method of controlling a robot arm, comprising:
- obtaining a first teaching point created in a state where the robot arm is supporting a tool other than a workpiece to be supported by the robot arm, and first data on posture of the robot arm determined when the first teaching point is created;
- moving the robot arm in accordance with the first teaching point in a state where the robot arm is supporting the workpiece or nothing, and obtaining second data on posture of the robot arm determined when the robot arm has been moved in accordance with the first teaching point;
- and
- creating a second teaching point by correcting the first teaching point based on the first data and the second data.
A method of using a robot arm and manufacturing an article in which a first workpiece is fitted on a second workpiece, the method comprising:
- obtaining a first teaching point created in a state where the robot arm is supporting a tool other than the first workpiece to be supported by the robot arm, and first data on posture of the robot arm determined when the first teaching point is created;
- moving the robot arm in accordance with the first teaching point in a state where the robot arm is supporting the first workpiece, and obtaining second data on posture of the robot arm determined when the robot arm has been moved in accordance with the first teaching point;
- creating a second teaching point by correcting the first teaching point based on the first data and the second data;
- and
- moving the robot arm in accordance with the second teaching point, and fitting the first workpiece onto the second workpiece.
Dependencies are inferred from the claim text.