Robot apparatus, robot system, control method of robot apparatus, product manufacturing method using robot apparatus, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorKenta Sasajima
Life of this patent
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Abstract
A robot apparatus is provided on a stand and includes a control apparatus that controls the robot apparatus. The control apparatus calculates vibration generated on the stand based on model data of the stand and trajectory data of an operation of the robot apparatus and corrects the trajectory data based on the vibration.
Claims20
A robot apparatus provided on a predetermined apparatus, the robot apparatus comprising:
- a control apparatus configured to control the robot apparatus,
- wherein the control apparatus calculates, based on pre-stored model data that includes one or more mechanical properties of the predetermined apparatus and trajectory data for the robot apparatus, a simulated amount of vibration to be generated on the predetermined apparatus if the robot apparatus were to be operated in accordance with the trajectory data, and the control apparatus
- generates corrected trajectory data in response to a determination that the simulated amount of vibration exceeds a threshold value, the corrected trajectory being generated based on the simulated amount of vibration to reduces the amount of vibration on the predetermined apparatus when the robot apparatus is operated;
- and
- controls the robot apparatus to operate using the corrected trajectory data.
A robot system in which a robot apparatus is provided on a predetermined apparatus, the robot system comprising:
- a control apparatus configured to control the robot apparatus;
- and
- a detection unit configured to detect an operation of the robot apparatus, wherein the control apparatus calculates, based on pre-stored model data that includes one or more mechanical properties of the predetermined apparatus and trajectory data for the robot apparatus, a simulated amount of vibration to be generated on the predetermined apparatus if the robot apparatus were to be operated in accordance with the trajectory data, and the control apparatus
- generates corrected trajectory data in response to a determination that the simulated amount of vibration exceeds a threshold value, the corrected trajectory being generated based on the simulated amount of vibration to reduces the amount of vibration on the predetermined apparatus when the robot apparatus is operated;
- and
- controls the robot apparatus to operate using the corrected trajectory data.
A control method for controlling a robot apparatus provided on a predetermined apparatus, the robot apparatus being controlled by a control apparatus, the control method comprising:
- calculating, by the control apparatus, based on pre-stored model data that includes one or more mechanical properties of the predetermined apparatus and trajectory data for the robot apparatus, a simulated amount of vibration to be generated on the predetermined apparatus if the robot apparatus were to be operated in accordance with the trajectory data, and the control apparatus;
- generating corrected trajectory data in response to a determination that the simulated amount of vibration exceeds a threshold value, the corrected trajectory being generated based on the simulated amount of vibration to reduces the amount of vibration on the predetermined apparatus when the robot apparatus is operated;
- and
- causing the control apparatus to operate the robot apparatus using the corrected trajectory data.
A product manufacturing method using a robot apparatus provided on a predetermined apparatus, the robot apparatus being controlled by a control apparatus, the product manufacturing method comprising:
- calculating, by the control apparatus, a simulated amount of vibration generated on the predetermined apparatus based on pre-stored model data that includes one or more mechanical properties of the predetermined apparatus and trajectory data for the robot apparatus, wherein the simulated amount of vibration is calculated based on the robot apparatus being operated in accordance with the trajectory data;
- generating corrected trajectory data in response to a determination that the simulated amount of vibration exceeds a threshold value, the corrected trajectory being generated based on the simulated amount of vibration to reduces the amount of vibration on the predetermined apparatus when the robot apparatus is operated;
- and
- manufacturing a product by causing the control apparatus to control the robot apparatus using the corrected trajectory data.
Dependencies are inferred from the claim text.