Title:
制御装置、制御方法、およびロボットシステム
Document Type and Number:
Japanese Patent JP7310271
Kind Code:
B2
Abstract:
To facilitate calibration of a robot.SOLUTION: A control device for controlling a robot comprises: an arm; a driving part that drives the arm; a transmitting part that transmits output from the driving part as driving force to the arm; an input position detecting part that detects an operation position at an input side to which the output from the driving part in the transmitting part; and an output position detecting part that detects an operation position at an output side at which the driving force is transmitted to the arm in the transmitting part. The control device comprises: a reference position setting part that sets a reference position for the arm; a calculating part that calculates a first transmission error of the transmitting part corresponding to the operation position of the transmitting part and a second transmission error of the transmitting part at the reference position, on the basis of output from the input position detecting part and output from the output position detecting part, and calculates a correction quantity on the basis of the first transmission error and the second transmission error; and a driving control part that controls the driving part on the basis of an operation quantity corrected based on the correction quantity.SELECTED DRAWING: Figure 4
Inventors:
元▲吉▼ 正樹
Naoto Murakami
Naoto Murakami
Application Number:
JP2019084227A
Publication Date:
July 19, 2023
Filing Date:
April 25, 2019
Export Citation:
Assignee:
Seiko Epson Corporation
International Classes:
B25J9/10
Domestic Patent References:
| JP2019000948A | ||||
| JP2018202589A |
Attorney, Agent or Firm:
Patent Attorney Corporation Meisei International Patent Office
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