Title:
ツール姿勢制御装置
Document Type and Number:
Japanese Patent JP6860534
Kind Code:
B2
Abstract:
To provide a tool attitude control device which can so make an attitude of a tool as to accurately fit to an actual surface shape of an object.SOLUTION: This tool attitude control device comprises: a robot 10 which so supports a tool T, which performs a prescribed work for an object W as to be capable of changing an attitude thereof; sensors 20a, 20b, 20c, 20d supported by the robot 10; and a control unit 30 which controls the robot 10 thereby changing the attitude of the tool T. The sensors 20a, 20b, 20c, 20d measure distances between plural measurement reference positions around the tool T and the object W. The control unit 30 performs such attitude control processing as to control the robot 10 so that a measured distance difference, which is a difference between said plural distances measured by the sensors 20a, 20b, 20c, 20d, becomes close to a target value according to a result calculated based on three-dimensional shape data of the object.SELECTED DRAWING: Figure 1
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Inventors:
Takemi Mototsugu
Application Number:
JP2018163844A
Publication Date:
April 14, 2021
Filing Date:
August 31, 2018
Export Citation:
Assignee:
FANUC Corporation
International Classes:
B25J13/08; B23B49/00; B23P19/04
Domestic Patent References:
| JP2009066713A | ||||
| JP5057541A | ||||
| JP4300180A | ||||
| JP1257579A | ||||
| JP6170771A | ||||
| JP2015097727A1 | ||||
| JP2287705A | ||||
| JP2012171093A |
Foreign References:
| US20170173796 | ||||
| US20100204817 | ||||
| US20120210802 |
Attorney, Agent or Firm:
Kunio Ueda
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi