Title:
ロボットの制御装置及びロボットの制御方法
Document Type and Number:
Japanese Patent JP7424097
Kind Code:
B2
Abstract:
To provide a control device of a robot which can prevent interference of P with an obstacle existing around when a tip of the robot is operated in a locus which does not pass all teaching points by adopting a pass operation of a CP system.SOLUTION: A control section of a controller controls a robot using teaching data so that a robot tip performs a pass operation to continuously move from a teaching point P1 for starting movement toward a teaching point P3 for finishing movement. At the time, a new teaching point P2_n is set on a straight line extended after passing from the teaching point P3 to the teaching point P2 so that a continuous movement locus of the robot tip performing the pass operation overlaps a teaching point P2 set between the teaching points P1 and P3 (S1 to S4). The robot is controlled to perform the pass operation toward the teaching point P2_n using teaching data of the teaching point P2_n (S7).SELECTED DRAWING: Figure 3
Inventors:
Yu Matsumoto
Takeshi Ueyama
Takeshi Ueyama
Application Number:
JP2020026287A
Publication Date:
January 30, 2024
Filing Date:
February 19, 2020
Export Citation:
Assignee:
Denso Wave Co., Ltd.
International Classes:
B25J9/22; B25J9/10; G05B19/4093; G05B19/42
Domestic Patent References:
| JP2001088073A | ||||
| JP2016049601A | ||||
| JP63005410A | ||||
| JP3666341B2 |
Attorney, Agent or Firm:
Patent Attorney Corporation Sato