Title:
BEND CORRECTION METHOD FOR ROBOT AND CONTROL DEVICE FOR ROBOT
Document Type and Number:
Japanese Patent JP2018099743
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a bend correction method for a robot, by which bend that may occur in the robot can be corrected, and to provide a control device for a robot.SOLUTION: A bend correction method according to the present embodiment comprises: (S1) in which moment applied to a first shaft in a non-rotating direction different from the rotating direction of the first shaft is obtained from: load torque applied to a second torque in the rotating direction; moment by the own weight on the second shaft side; and a ratio between a distance from the rotation center of the first shaft to the rotation center of the second shaft and a distance from the rotation center of the second shaft to the rotation center of a tool; (S2) in which an amount of bend, indicating an angle at which the first shaft inclines in the non-rotating direction, is obtained from: moment applied to the first shaft in the non-rotating direction; and the rigidity of the first shaft in the non-rotating direction; and (S3) in which a control value for controlling a robot is corrected on the basis of the amount of bend.SELECTED DRAWING: Figure 6
Inventors:
FUKUOKA TAKASHI
KAWACHI YUTO
SHIRATORI HIROAKI
KAWASE DAISUKE
KAWACHI YUTO
SHIRATORI HIROAKI
KAWASE DAISUKE
Application Number:
JP2016245489A
Publication Date:
June 28, 2018
Filing Date:
December 19, 2016
Export Citation:
Assignee:
DENSO WAVE INC
International Classes:
B25J13/08
Domestic Patent References:
| JPH0839465A | 1996-02-13 | |||
| JPS63251811A | 1988-10-19 | |||
| JP2015206747A | 2015-11-19 |
Foreign References:
| US20090037022A1 | 2009-02-05 |
Attorney, Agent or Firm:
Patent Business Corporation Sato International Patent Office