Title:
ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2014/123054
Kind Code:
A1
Abstract:
In the present invention, a robot control device is provided with a control unit for controlling a robot (13) having the following: a multi-joint arm having a holding part (21) for holding a workpiece that is bent by a bending machine (1); a travel base (25) that causes the multi-joint arm to travel along a travel shaft; and an actuator for driving the joints (15A-15F) of the multi-joint arm and the travel base (25). The control unit controls the actuator and performs a tracking operation for tracking the position of the holding part (21) in accordance with the deformation of the workpiece that is bent by the bending machine (1). The control unit, at the time of the tracking operation, controls the actuator so that the acceleration of all of the rotation shafts of the joints (15A-15F) of the multi-joint arm and of the travel shaft is no more than a prescribed value, and therefore, without slowing down the processing speed of the bending machine, the movement of the workpiece can be tracked.
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Inventors:
IMAI KAZUNARI (JP)
TAKATSU SATOSHI (JP)
TAKAHASHI YUUKI (JP)
TAKATSU SATOSHI (JP)
TAKAHASHI YUUKI (JP)
Application Number:
PCT/JP2014/052045
Publication Date:
August 14, 2014
Filing Date:
January 30, 2014
Export Citation:
Assignee:
AMADA CO LTD (JP)
International Classes:
B21D5/02; B25J9/06
Foreign References:
| JPH06122025A | 1994-05-06 | |||
| JP2001287185A | 2001-10-16 | |||
| JP2011011263A | 2011-01-20 | |||
| EP1772204A1 | 2007-04-11 |
Attorney, Agent or Firm:
MIYOSHI, Hidekazu et al. (JP)
Hidekazu Miyoshi (JP)
Hidekazu Miyoshi (JP)
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