Vibration suppression device
AssigneeFanuc Corporation
InventorsHiroshi NAKAGAWA, Takafumi KAJIYAMA
Life of this patent
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Abstract
A vibration suppression device acquires a teaching position, computes a speed plan based on the acquired teaching position and a first acceleration/deceleration parameter, computes data related to deflection occurring during an acceleration/deceleration operation of a robot based on the teaching position and the speed plan, and acquires data indicating a posture at the teaching position. Further, a machine learning unit of the vibration suppression device estimates an acceleration/deceleration parameter with respect to the data related to the deflection and the data related to the posture using the data related to the deflection and the data related to the posture as input data.
Claims6
A vibration suppression device for suppressing vibration generated during an acceleration/deceleration operation of a robot to be controlled such that the vibration corresponds to a predetermined threshold value or less, the vibration suppression device comprising:
- a teaching position acquisition unit that acquires a teaching position;
- a speed plan unit that computes a speed plan based on the teaching position and a first acceleration/deceleration parameter;
- a deflection computation unit that computes data related to deflection occurring during the acceleration/deceleration operation of the robot based on the teaching position and the speed plan;
- a posture data acquisition unit that acquires data related to a posture at the teaching position based on the teaching position;
- and
- a machine learning unit that estimates a second acceleration/deceleration parameter with respect to the data related to the deflection and the data related to the posture using the data related to the deflection and the data related to the posture as input data.
Dependencies are inferred from the claim text.