Title:
CONTROL DEVICE OF ROBOT AND CONTROL METHOD OF ROBOT
Document Type and Number:
Japanese Patent JP2020131314
Kind Code:
A
Abstract:
To simplify an adjustment operation of a position posture of an arm tip in direct teaching.SOLUTION: A controller 3 performing angle control of each axis of a robot 2 sets root side axes (1, 2, 3 axes) to operation axes which are made free operating states in accordance with external force and sets tip side axes (4, 5, 6 axes) to control axes which are made angle controllable states when performing direct teaching so that the position of an arm tip is changed while maintaining the posture of the arm tip in a target posture. The controller 3 sets the tip side axes to the operation axes and sets the root side axes to the control axes when performing direct teaching so that the posture of the arm tip is changed while maintaining the position of the arm tip in the target position. When performing the direct teaching, the controller 3 inputs present angles of the operation axes and the target posture or the target position and calculates command angles of the control axes by inverse kinematics calculation.SELECTED DRAWING: Figure 4
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Inventors:
SATO AKINORI
KAWACHI YUTO
KAWACHI YUTO
Application Number:
JP2019024493A
Publication Date:
August 31, 2020
Filing Date:
February 14, 2019
Export Citation:
Assignee:
DENSO WAVE INC
International Classes:
B25J9/22
Domestic Patent References:
| JP2017074669A | 2017-04-20 | |||
| JP2014014901A | 2014-01-30 | |||
| JPS63260779A | 1988-10-27 | |||
| JP2018111155A | 2018-07-19 | |||
| JPS63278777A | 1988-11-16 | |||
| JPS63278778A | 1988-11-16 | |||
| JPH0557643A | 1993-03-09 | |||
| JPH07251390A | 1995-10-03 | |||
| JPH08216074A | 1996-08-27 | |||
| JPH11239988A | 1999-09-07 |
Foreign References:
| US20150217445A1 | 2015-08-06 |
Attorney, Agent or Firm:
Patent Business Corporation Sato International Patent Office