Title:
CONTROL DEVICE AND COMPUTER-READABLE RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/042617
Kind Code:
A1
Abstract:
A control device according to the present disclosure comprises: an analysis unit that analyzes instructions by a control program; a corner detection unit that detects, on the basis of the analysis result by the analysis unit, a corner portion at which the direction of a moving route becomes discontinuous; a corner curving processing unit that executes curving by inserting a curve into the corner portion so as to adjust the velocity on the curved moving route; and a respective-direction velocity analysis unit that analyzes change in the velocity along the directional component of the moving route before and after the corner portion when moving on the inserted curve. When fluctuation of change in the velocity in the movement on the curve has been detected as a result of the analysis by the respective-direction velocity analysis unit, the control device instructs the corner curving processing unit to change corner curve processing so as to eliminate the fluctuation of change in the velocity on the curve.
Inventors:
KOIDE NAOYA (JP)
KAWAMURA HIROYUKI (JP)
KAWAMURA HIROYUKI (JP)
Application Number:
PCT/JP2022/031733
Publication Date:
February 29, 2024
Filing Date:
August 23, 2022
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
G05B19/416; B23Q15/00; G05B19/4093
Domestic Patent References:
| WO2016067392A1 | 2016-05-06 | |||
| WO2016024338A1 | 2016-02-18 |
Foreign References:
| JPH11194813A | 1999-07-21 | |||
| JP2017156834A | 2017-09-07 | |||
| JPH09101814A | 1997-04-15 | |||
| JPH06250724A | 1994-09-09 | |||
| JPH09190211A | 1997-07-22 | |||
| JPH10320026A | 1998-12-04 |
Attorney, Agent or Firm:
AIWA INTERNATIONAL PATENT AGENCY (JP)
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