Robot control device and robot system
AssigneeFanuc Corporation
InventorTakashi SATOU
Life of this patent
Estimating the term…
Abstract
Provided are a robot control device and a robot system that can automatically correct errors in position and posture when supplying a workpiece. A robot control device for controlling a robot comprises an error correction unit that, when the robot supplies a workpiece to or removes the workpiece from a machine tool, performs force control on the basis of a detection value of a force detector detecting an external force and a moment acting on the workpiece, and corrects errors in position and posture of the workpiece and a securing mechanism securing the workpiece.
Claims13
A robot control device for controlling a robot, comprising:
- an error correction unit that, when the robot supplies a workpiece to or removes the workpiece from a machine tool, performs force control based on a detection value of a force detector for detecting an external force and a moment acting on the workpiece, and corrects errors in position and posture between the workpiece and a securing mechanism for securing the workpiece.
A robot system comprising:
- a robot for supplying a workpiece to or removing the workpiece from a machine tool;
- a gripping mechanism provided in the robot and configured to grip the workpiece;
- a securing mechanism provided in the machine tool and configured to secure the workpiece;
- a force detector configured to detect an external force and a moment acting on the workpiece;
- and
- a robot control device configured to control the robot,
- the robot control device comprising an error correction unit that, when the robot supplies the workpiece to or removes the workpiece from the machine tool, performs force control based on a detection value of the force detector, and corrects errors in position and posture between the workpiece and the securing mechanism.
Dependencies are inferred from the claim text.