Device for generating signal for weaving motion, control device, and method
AssigneeFanuc Corporation
InventorDaigo Watanabe
Life of this patent
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Abstract
A device includes an input reception unit that receives input of a parameter of a weaving signal, a signal generation unit that generates a weaving signal having the received parameter, a parameter acquisition unit that acquires, as a filtered parameter, the parameter of the weaving signal in a case where the weaving signal is subjected to filtering processing, a condition determination unit that determines whether or not the filtered parameter satisfies a predetermined condition, and a parameter adjustment unit that adjusts the received parameter if the filtered parameter is determined not to satisfy the predetermined condition. The signal generation unit generates a weaving signal having the parameter adjusted by the parameter adjustment unit.
Claims10
A device configured to generate a signal for a weaving operation of causing a robot to move a tool along a predetermined working path while swinging the tool in a direction intersecting the working path, the device comprising:
- an input reception section configured to receive an input of a parameter of a weaving signal for causing the robot to swing the tool;
- a signal generation section configured to generate the weaving signal having the parameter received by the input reception section;
- a parameter acquisition section configured to acquire, as a post-filtering parameter, the parameter of the weaving signal obtained when filtering for removing a high-frequency component is executed on the weaving signal generated by the signal generation section;
- a condition determination section configured to determine whether the post-filtering parameter satisfies a predetermined condition;
- and
- a parameter adjustment section configured to adjust the parameter received by the input reception section such that the condition is satisfied, when the condition determination section determines that the condition is not satisfied,
- wherein the signal generation section is configured to generate the weaving signal having the parameter adjusted by the parameter adjustment section.
A method of generating a signal for a weaving operation of causing a robot to move a tool along a predetermined working path while swinging the tool in a direction intersecting the working path, the method comprising:
- receiving, by a processor, an input of a parameter of a weaving signal for causing the robot to swing the tool;
- generating, by the processor, the weaving signal having the received parameter;
- acquiring, by the processor, the parameter of the weaving signal obtained when filtering for removing a high-frequency component is executed on the generated weaving signal, as a post-filtering parameter;
- determining, by the processor, whether the post-filtering parameter satisfies a predetermined condition;
- adjusting, by the processor, the received parameter such that the condition is satisfied, when it is determined that the condition is not satisfied;
- and
- generating, by the processor, the weaving signal having the adjusted parameter.
Dependencies are inferred from the claim text.