Title:
CONTROL DEVICE AND COMPUTER-READABLE RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/042618
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 reference curve creation unit that performs acceleration/deceleration processing on movements before and after the corner portion on the moving route and that creates, as a reference curve, a curve obtained by overlapping the movements by an amount corresponding to a predetermined overlap period; a corner curving unit that creates a moving route curved by inserting, in the corner portion, a curve passing through at least one predetermined reference position on the reference curve; and a curve velocity planning unit that creates a velocity plan relating to movement on the curved moving route. The curve velocity planning unit determines the velocity at the reference position during the movement on the moving route, on the basis of the moving velocity at the reference position on the reference curve.
Inventors:
KOIDE NAOYA (JP)
KAWAMURA HIROYUKI (JP)
KAWAMURA HIROYUKI (JP)
Application Number:
PCT/JP2022/031734
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:
| WO2016024338A1 | 2016-02-18 | |||
| WO2022158428A1 | 2022-07-28 |
Foreign References:
| JPH11194813A | 1999-07-21 | |||
| JP2017156834A | 2017-09-07 | |||
| JP2020181403A | 2020-11-05 | |||
| JP2018124996A | 2018-08-09 | |||
| JPH09190211A | 1997-07-22 | |||
| JPH10320026A | 1998-12-04 |
Attorney, Agent or Firm:
AIWA INTERNATIONAL PATENT AGENCY (JP)
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