Title:
ロボット曲面倣い制御方法
Document Type and Number:
Japanese Patent JP7309592
Kind Code:
B2
Abstract:
A surface following control method for a robot is used for controlling the robot including a hand part, an arm part, and a controller. In this surface following control method for the robot, processes including a normal direction identification process and a work tool posture control process are performed. In the normal direction identification process, a normal direction of a virtual shape at a virtual position where the work tool attached to the hand part contacts the virtual shape which is a shape represented by the formula is identified. In the work tool control process, the work tool attached to the hand part is brought into contact with the target workpiece at a corresponding position which is a position corresponding to the virtual position on the surface of the target workpiece, in a posture along the normal direction identified in the normal direction identification process.
Inventors:
Masanori Ito
Daiki Suemoto
Daiki Suemoto
Application Number:
JP2019226602A
Publication Date:
July 18, 2023
Filing Date:
December 16, 2019
Export Citation:
Assignee:
Kawasaki Heavy Industries, Ltd.
International Classes:
B25J13/08
Domestic Patent References:
| JP7210230A | ||||
| JP866879A | ||||
| JP2006331255A |
Foreign References:
| WO2018173165A1 | ||||
| CN103085072A |
Attorney, Agent or Firm:
Naoki Katsuragawa