Title:
PROCESSING APPARATUS FOR IMPLEMENTING ROBOT STIFFNESS-MAINTAINING POSTURE AND PROCESSING METHOD FOR IMPLEMENTING ROBOT STIFFNESS-MAINTAINING POSTURE USING SAME
Document Type and Number:
WIPO Patent Application WO/2023/054749
Kind Code:
A1
Abstract:
An embodiment of the present invention provides a technique for enabling, in a machining process using a robot, such as drilling, the robot to perform a machining process with a posture with the greatest stiffness. A processing apparatus for implementing a robot stiffness-maintaining posture, according to an embodiment of the present invention, comprises: a robot which has a plurality of links and a plurality of joints and is redundancy-driven; a processing unit which is coupled to the terminal end of the robot and is equipped with a tool to process a processing target; a stiffness data unit which generates stiffness data that is a stiffness value of each of the plurality of joints that change according to the posture of the robot; and a control unit which receives the stiffness data from the stiffness data unit, and receives information on the cutting force, which is a force applied to the tool, from the processing unit, to predict the posture deformation of the robot when the tool works on the processing target and to control the posture of the robot so that the posture is at the maximum stiffness.
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Inventors:
KIM SEONG HYEON (KR)
KIM TAE GON (KR)
NAM JUNG SOO (KR)
LEE SEOK WOO (KR)
SHIN KANG U (KR)
KIM TAE GON (KR)
NAM JUNG SOO (KR)
LEE SEOK WOO (KR)
SHIN KANG U (KR)
Application Number:
PCT/KR2021/013382
Publication Date:
April 06, 2023
Filing Date:
September 29, 2021
Export Citation:
Assignee:
KOREA INST IND TECH (KR)
International Classes:
B25J11/00; B25J9/06; B25J9/16; B25J13/08
Foreign References:
| US9110456B2 | 2015-08-18 | |||
| KR20170016631A | 2017-02-14 | |||
| JP2020179440A | 2020-11-05 | |||
| KR20090060752A | 2009-06-15 | |||
| KR20160149649A | 2016-12-28 |
Attorney, Agent or Firm:
HAN, Sang Soo (KR)
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