Robot control device which controls robot on basis of mechanism data, and operation program correction device
AssigneeFanuc Corporation
InventorsYuelai Wang, Yasuhiro Naitou, Kunihiko Harada
Life of this patent
Estimating the term…
Abstract
A robot control device includes an operation control unit which controls the operation of a robot based on mechanism data. The mechanism data includes a parameter for calculating the relationship between an angle in a joint part of the robot and a distal end position of the robot. The control device also includes an acquisition unit which acquires a plurality of predetermined sets of mechanism data, a selection unit which selects one set of mechanism data from the plurality of sets of mechanism data, and a switching operation setting unit that sets the operation of the robot when changing the mechanism data.
Claims14
A controller for a robot having a joint, the controller comprising:
- a processor configured to:
- control an operation of the robot using mechanism data including mechanism error parameters and a parameter used to calculate a relationship between an angle of a joint of the robot and a distal end position of the robot;
- acquire a plurality of predetermined mechanism error parameters;
- select one mechanism error parameter from the plurality predetermined mechanism error parameters;
- and
- set an operation of the robot responsive to the mechanism error parameter being changed,
- wherein the processor controls the operation of the robot according to an operation program, and selects the mechanism error parameter corresponding to the operation program used to control the operation of the robot.
A correction device for an operation program of a robot having a joint, the correction device comprising:
- a storage configured to store mechanism data including a mechanism error parameter and a parameter used to calculate a relationship between an angle of a joint of the robot and a distal end position of the robot:
- a processor configured to acquire, from the storage, a plurality of mechanism error parameters created in advance;
- a display including an area for displaying the plurality of pieces of the mechanism error parameters data and an area for displaying the operation program;
- a keyboard through which an operator operates an image displayed on the display;
- wherein the processor is configured to select one mechanism error parameter from the plurality of mechanism error parameters in response to an operation of the keyboard by the operator;
- and
- correct the operation program based on the one piece of the mechanism data selected by the processor,
- wherein the mechanism error parameter is a parameter used in a calculation formula to calculate a rotational position of a drive motor of the robot from a variable defining a position and a posture of the robot set in the operating program.
Dependencies are inferred from the claim text.