Control device for robot that performs work by pressing tool against workpiece
AssigneeFanuc Corporation
InventorsKunihiko Harada, Hiromitsu Takahashi, Soichi Arita
Life of this patent
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Abstract
A robot control device includes a correction amount calculation unit that calculates a correction amount for collecting a deviation of a tip position of a tool attached to a tip of a robot due to an external force applied to the tool and a correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time.
Claims6
A robot control device for controlling a robot to perform work by pressing a tool attached to a tip of the robot against a workpiece, the robot control device comprising a processor configured to:
- calculate a correction amount for correcting a deviation of a tip position of the tool due to an external force applied to the tool, and
- generate a correction profile indicating a relationship between the calculated correction amount calculated by the correction amount calculation unit and time,
- wherein the correction amount is calculated so that the external force applied to the tool becomes smaller than a maximum static friction force between the workpiece and the tool,
- wherein the correction amount is added to an operation command of the robot on the basis of the correction profile generated in advance, and
- wherein an operation of the robot is controlled based on the operation command.
A robot control device for controlling a robot to perform work by pressing a tool attached to a tip of the robot against a workpiece, the robot control device comprising:
- a storage that stores a relationship between (i) a current value of a motor provided on the robot or the tool and (ii) an external force applied to the tool;
- a processor configured to
- calculate the external force on the basis of the relationship stored in the storage and the current value of the motor,
- calculate a correction amount for correcting a deviation of a tip position of the tool due to the external force applied to the tool, and
- generate a correction profile indicating a relationship between the correction amount and time;
- and
- a time-series storage that stores the current value of the motor in time series from (a) starting to press the tool against the workpiece to (b) completely separating the tool from the workpiece, wherein the processor is further configured to calculate the external force on the basis of the relationship stored in the storage and the current value of the motor stored in the time-series storage,
- wherein the correction amount is added to an operation command of the robot on the basis of the correction profile generated in advance, and
- wherein an operation of the robot is controlled based on the operation command.
Dependencies are inferred from the claim text.