Title:
ROBOT SYSTEM AND ROBOT CONTROL METHOD
Document Type and Number:
Japanese Patent JP2020044619
Kind Code:
A
Abstract:
To provide a robot system that can accurately adjust a position or a direction of a work device with respect to a work-piece in performing work to the work-piece that is warped by own weight using the work device.SOLUTION: A measurement control part acquires detected results by a distance sensor at a plurality of reference points of a work-piece to be worked, by moving the distance sensor along a surface of the work-piece to be worked placed on a work place, using teaching data for measurement created based on the work-piece in an ideal shape. A calculating part calculates a shape error caused by warp at the reference points of the work-piece to be worked and at points other than the reference points, on the basis of the detected results by the distance sensor at the reference points. A correcting part corrects teaching data for work to calculate corrected teaching data for work on the basis of the shape error calculated by the calculating part. A work control part performs work to the work-piece to be worked by moving the work device along the surface of the work-piece to be worked, using the corrected teaching data for work.SELECTED DRAWING: Figure 8
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Inventors:
TANAKA HIDEYUKI
KIRITOOSHI TAKANORI
KUSUNOKI TAKURO
YOSHIDA SHOICHIRO
KIRITOOSHI TAKANORI
KUSUNOKI TAKURO
YOSHIDA SHOICHIRO
Application Number:
JP2018175507A
Publication Date:
March 26, 2020
Filing Date:
September 20, 2018
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD
International Classes:
B25J13/00; B25J9/22
Domestic Patent References:
| JP2002351531A | 2002-12-06 | |||
| JP2011183535A | 2011-09-22 | |||
| JPH0732279A | 1995-02-03 | |||
| JP2001276986A | 2001-10-09 | |||
| JP2016062477A | 2016-04-25 |
Attorney, Agent or Firm:
Naomi Katsura River