Work robot and work position correction method
AssigneeFuji Corporation
InventorsMasato Suzuki, Masatoshi Fujita
Life of this patent
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Abstract
An articulated robot includes an arm, an actuator, a storage device, and a control device. The storage device stores the correction parameter for correction accuracy required for each of the multiple work regions, which are segmented as the regions in which work on the work target object is performed in the movable region of the robot arm. When the work is instructed with designation of the target position, the control device acquires, from the storage device, a correction parameter corresponding to a work region to which the designated target position belongs, among the multiple work regions. Then, the control device controls the actuator by correcting the target position using the acquired correction parameter.
Claims10
A work robot comprising:
- a multi joint type robot arm;
- an actuator configured to drive each joint of the robot arm;
- a storage device configured to store correction parameters for correction accuracy required for each of multiple work regions segmented as regions in which work on a work target object is performed in a movable region of the robot arm;
- and
- a control device configured to control the actuator when the work is instructed with designation of a target position, by acquiring, from the storage device, a correction parameter corresponding to a work region, to which the target position belongs, among the multiple work regions, and by correcting the target position using the correction parameter,
- wherein the correction parameters include a spatial coordinate value and a correction value associated with multiple work points within the respective work region that are arranged in a matrix at a predetermined pitch which corresponds to the correction accuracy required for each of the multiple work regions.
A work position correction method for operating a multi-joint type work robot by specifying a target position, comprising:
- setting multiple work regions as regions in which work on a work target object is performed in a movable area of the work robot;
- setting a correction parameter for correction accuracy required for each of the set multiple work regions;
- and
- correcting the target position using a correction parameter corresponding to a work region which belongs to the target position among the set correction parameters to control the operation of the work robot,
- wherein the correction parameters include a spatial coordinate value and a correction value associated with multiple work points within the respective work region that are arranged in a matrix at a predetermined pitch which corresponds to the correction accuracy required for each of the multiple work regions.
Dependencies are inferred from the claim text.