Title:
ROBOT CONTROL METHOD USING CONTOUR CONTROL ALGORITHM
Document Type and Number:
WIPO Patent Application WO/2023/054751
Kind Code:
A1
Abstract:
One embodiment of the present invention provides a technique for controlling, during processing using a robot, the robot so as to facilitate error correction of a processing path for an object to be processed. A robot control method using a contour control algorithm, according to an embodiment of the present invention, comprises: a first step of coupling a laser tracker to a robot so as to emit a laser beam at a processing unit having a tool, and thus measure actual position and actual direction, which are the real-time position and direction of the tool; a second step of dividing a reference processing path, which is a processing path of the tool previously set according to an object to be processed, into a plurality of straight lines and setting reference position and reference direction, which are the position and direction of the tool on the reference processing path; a third step of deriving a contour reference position, which is the position of the tool of which a position error has been corrected, by using two vertical connection lines vertically connecting the actual position to each of two straight lines passing through the closest reference position, which is the reference position closest to the actual position from among the plurality of straight lines; a fourth step of deriving a contour reference direction, which is the direction of the tool of which a direction error has been corrected, by using a reference direction at the closest reference position and the actual direction; and a fifth step of using the contour reference position and the contour reference direction so as to control the position and the direction of the tool, and thus control the robot.
Inventors:
KIM SEONG HYEON (KR)
NAM JUNG SOO (KR)
KIM TAE GON (KR)
LEE SEOK WOO (KR)
SHIN KANG U (KR)
NAM JUNG SOO (KR)
KIM TAE GON (KR)
LEE SEOK WOO (KR)
SHIN KANG U (KR)
Application Number:
PCT/KR2021/013384
Publication Date:
April 06, 2023
Filing Date:
September 29, 2021
Export Citation:
Assignee:
KOREA INST IND TECH (KR)
International Classes:
B25J9/16; B23Q17/22; B25J9/06; B25J11/00; B25J13/08; B25J19/02; G05B19/19; G05B19/402
Foreign References:
| JP2020049633A | 2020-04-02 | |||
| JP2017505240A | 2017-02-16 | |||
| US9110456B2 | 2015-08-18 | |||
| KR20170016631A | 2017-02-14 | |||
| KR20190114749A | 2019-10-10 |
Attorney, Agent or Firm:
HAN, Sang Soo (KR)
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