Robot control method
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsRyosuke Yamamoto, Hiroyuki Nakata, Hiroyoshi Ueda, Atsumi Hashimoto, Masayoshi Iwatani
Life of this patent
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Abstract
Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.
Claims7
A robot control method for operating an arm of a robot including a plurality of joint portions in accordance with a predetermined operation program, the method comprising:
- inputting load information on a load to be attached to the arm and collision sensitivity indicating a threshold value for detection of a collision of the arm:
- comparing load information set in advance at the time of creation of the operation program with load information newly input before execution of the op eration program;
- and
- modifying the operation program if a difference between the load information set and the load information input is larger than a predetermined threshold value:
- calculating by a processor gravitational torque to be applied to the joint portion based on the load information;
- calculating by the processor a deflection amount of the arm based on the gravitational torque;
- calculating by the processor a correction amount for correcting the deflection amount based on the collision sensitivity;
- and
- correcting the deflection amount based on the correction amount.
A robot control method for operating an arm of a robot including a plurality of joint portions in accordance with a predetermined operation program, the method comprising:
- inputting load information on a load to be attached to the arm and collisi on sensitivity indicating a threshold value for detection of a collision of the arm;
- comparing collision sensitivity set in advance at the time of creation of the operation program with collision sensitivity newly input before execution of the operation program;
- modifying the operation program when a difference between the collision sensitivity set and the collision sensitivity input is larger than a predetermined threshold value;
- calculating by a processor gravitational torque to be applied to the joint p ortion based on the load information;
- calculating by the processor a deflection amount of the arm based on the gravitational torque;
- calculating by the processor a correction amount for correcting the deflec tion amount based on the collision sensitivity;
- and
- correcting the deflection amount based on the correction amount.
Dependencies are inferred from the claim text.