Title:
ロボットシステム、ロボット制御方法、及びエンコーダー
Document Type and Number:
Japanese Patent JP7234580
Kind Code:
B2
Abstract:
A robot system includes: a robot having a main shaft gear attached to a rotary shaft of a drive unit, a first countershaft gear meshing with the main shaft gear, a second countershaft gear meshing with the main shaft gear, and a third countershaft gear meshing with the main shaft gear. A number of teeth of the main shaft gear, a number of teeth of the first countershaft gear, a number of teeth of the second countershaft gear, and a number of teeth of the third countershaft gear are integers having no greatest common divisor other than 1. As first processing, a first number of rotations, which is a number of rotations of the main shaft gear, is derived based on a phase of the first countershaft gear and a phase of the second countershaft gear, and a second number of rotations, which is a number of rotations of the main shaft gear, is derived based on the phase of the second countershaft gear and a phase of the third countershaft gear, and the drive unit is stopped when the first number of rotations and the second number of rotations do not coincide with each other.
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Inventors:
Akihiro Fujisawa
Akitoshi Maeda
Akitoshi Maeda
Application Number:
JP2018205305A
Publication Date:
March 08, 2023
Filing Date:
October 31, 2018
Export Citation:
Assignee:
Seiko Epson Corporation
International Classes:
B25J19/06; G01D5/347
Domestic Patent References:
| JP2009276240A |
Attorney, Agent or Firm:
Yasushi Matsunuma
Kazunori Onami
Hiroyuki Matsumoto
Akio Sato
Kazunori Onami
Hiroyuki Matsumoto
Akio Sato