Title:
CONTROL DEVICE FOR CALCULATING PARAMETERS FOR CONTROLLING POSITION AND POSTURE OF ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/210186
Kind Code:
A1
Abstract:
This control device comprises a force sensor, and a parameter calculation unit for calculating a moving direction for moving a first workpiece, and the position of a workpiece end point when performing force control. An operator causes a robot to bring the workpiece end point of the first workpiece into contact with a corner of a second workpiece. The force sensor detects a force in a period in which the first workpiece is pressed along a pressing direction. The parameter calculation unit calculates the moving direction and the position of the workpiece end point, on the basis of forces detected by the force sensor for a plurality of pressing directions.
Inventors:
ISHII YUKI (JP)
Application Number:
PCT/JP2022/013623
Publication Date:
October 06, 2022
Filing Date:
March 23, 2022
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
B25J9/22; B25J13/08; G05B19/42
Domestic Patent References:
| WO2022009765A1 | 2022-01-13 |
Foreign References:
| JP2012157946A | 2012-08-23 | |||
| JP2018118340A | 2018-08-02 | |||
| JP2011194499A | 2011-10-06 | |||
| JP2017001122A | 2017-01-05 | |||
| JP2014128857A | 2014-07-10 | |||
| JP2016221642A | 2016-12-28 | |||
| JP2018015855A | 2018-02-01 |
Attorney, Agent or Firm:
AOKI, Atsushi et al. (JP)
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