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.
Claims18
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 vibration generated on the predetermined apparatus based on model data of the predetermined apparatus and trajectory data of an operation of the robot apparatus and controls the robot apparatus based on the vibration.
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,
- wherein the control apparatus calculates vibration generated on the predetermined apparatus based on model data of the predetermined apparatus and trajectory data of an operation of the robot apparatus and controls the robot apparatus based on the vibration.
A control method for controlling a robot apparatus provided on a predetermined apparatus and which includes a control apparatus that controls the robot apparatus, the control method comprising:
- calculating, by the control apparatus, vibration generated on the predetermined apparatus based on model data of the predetermined apparatus and trajectory data of an operation of the robot apparatus;
- and
- causing the control apparatus to control the robot apparatus based on the vibration.
A product manufacturing method using a robot apparatus provided on a predetermined apparatus and includes a control apparatus that controls the robot apparatus, the product manufacturing method comprising:
- calculating, by the control apparatus, vibration generated on the predetermined apparatus based on model data of the predetermined apparatus and trajectory data of an operation of the robot apparatus;
- and
- manufacturing a product by causing the control apparatus to control the robot apparatus based on the vibration.
Dependencies are inferred from the claim text.