Title:
ROBOT CONTROL METHOD, ARTICLE MANUFACTURING METHOD, ROBOT CONTROL DEVICE, ROBOT, PROGRAM AND RECORDING MEDIUM
Document Type and Number:
Japanese Patent JP2020015124
Kind Code:
A
Abstract:
To improve accuracy of positioning a tip of a robot arm.SOLUTION: A CPU 301 sends a command value to a motor control device 230, so that the motor control device 230 performs feed-back control of a motor 1 that drives a joint of a robot arm via a speed reducer, based on an output value from an input-axis encoder 10 arranged at an input side of the speed reducer and the command value. The CPU 301 sends a command value to the motor control device 230 on the basis of a teaching point. The CPU 301 corrects the teaching point on the basis a difference between an actual posture of the robot arm on the basis of an output value from an output-axis encoder 16 arranged at an output side of the speed reducer and a preset target posture. The CPU 301 sends a command value to the motor control device 230 on the basis of the teaching point already corrected.SELECTED DRAWING: Figure 3
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Inventors:
IWASAKI TATSUYA
Application Number:
JP2018138891A
Publication Date:
January 30, 2020
Filing Date:
July 24, 2018
Export Citation:
Assignee:
CANON KK
International Classes:
B25J9/10; G05B19/404
Attorney, Agent or Firm:
Kazuo Chikajima
Takashi Daejeon
Takashi Daejeon