Robot controlling method and welding method
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsHIROYUKI NAKATA, ATSUMI HASHIMOTO, YASUYOSHI HONUCHI, RYOSUKE YAMAMOTO
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Abstract
A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.
Claims8
A robot controlling method for operating an arm using a motor, the robot controlling method comprising:
- performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor;
- and
- performing, in a period during which the arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.
A welding method for operating an arm having a wire using a motor, and welding a workpiece using the wire, the welding method comprising:
- performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor;
- performing, in a period during which the arm is not in motion, subtraction to reduce the backlash compensation value added to the position command;
- producing an electric arc between the wire and the workpiece after the arm stops;
- and
- moving the arm to move the wire and welding the workpiece after the electric arc is produced.
Dependencies are inferred from the claim text.