Robot, robot controller, and work robot system
AssigneeFanuc Corporation
InventorsWataru MIYAZAKI, Kentaro KOGA
Life of this patent
Estimating the term…
Abstract
A robot including an arm, and a controller that controls the arm, wherein the robot is configured to perform a predetermined work on a target portion of an object which is being moved by an object conveying device. The controller is configured to perform a waypoint following control which controls the arm so that a component or a tool supported by a distal end portion of the arm follows the object, which is being moved, at each of one or more waypoints before moving the component or the tool to a work start position; and after executing the waypoint following control, control the arm to place the component or the tool at the work start position and control the arm to perform a work time following in which the component or the tool follows the object.
Claims13
A robot comprising:
- an arm;
- and
- a controller that controls the arm, wherein
- the robot is configured to perform a predetermined work on a target portion of an object which is being moved by an object conveying device,
- wherein the controller is configured to perform:
- a waypoint following control which controls the arm so that a component or a tool supported by a distal end portion of the arm follows the object, which is being moved, at each of one or more waypoints before moving the component or the tool to a work start position of the predetermined work;
- and
- after executing the waypoint following control, a work time following control which controls the arm to place the component or the tool at the work start position and which controls the arm to perform a work time following in which the component or the tool follows the object which is being moved.
A robot controller, wherein the robot controller is configured to control an arm of a robot that performs a predetermined work on a target portion of an object which is being moved by an object conveying device,
- wherein the robot controller is configured to perform:
- a waypoint following control which controls the arm so that a component or a tool supported by a distal end portion of the arm follows the object, which is being moved, at each of one or more waypoints before moving the component or the tool to a work start position of the predetermined work;
- and
- after executing the waypoint following control, a work time following control which controls the arm to place the component or the tool at the work start position and which controls the arm to perform a work time following in which the component or the tool follows the object which is being moved.
A work robot system comprising:
- an object conveying device for conveying an object;
- a robot having an arm;
- and
- a controller configured to control the arm to perform a predetermined work on a target portion of the object which is being moved by the object conveying device, wherein
- the controller is configured to perform:
- a waypoint following control which controls the arm so that a component or a tool supported by a distal end portion of the arm follows the object, which is being moved, at each of one or more waypoints before moving the component or the tool to a work start position of the predetermined work;
- and
- after executing the waypoint following control, a work time following control which controls the arm to place the component or the tool at the work start position and which controls the arm to perform a work time following in which the component or the tool follows the object which is being moved.
Dependencies are inferred from the claim text.