Robot control method
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsMASAYOSHI IWATANI, HIROYUKI NAKATA, HIROYOSHI UEDA, ATSUMI HASHIMOTO, YASUYOSHI HONUCHI, RYOSUKE YAMAMOTO
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Abstract
When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.
Claims6
A robot control method configured to operate an arm of a robot having a plurality of joints based on a predetermined operation program, the robot control method comprising:
- compensating deflection generated in an arm by operating a joint based on a predetermined compensation amount, the deflection being generated by the arm gripping a workpiece with a gripping part of the arm;
- moving the workpiece to a first teaching point;
- opening the gripping part at the first teaching point to bring the workpiece into a non-gripping state;
- and
- operating the joint while the compensation amount is changed to gradually decrease in the non-gripping state of the workpiece and while the gripping part is moved from the first teaching point to the second teaching point.
Dependencies are inferred from the claim text.