Title:
ROBOT CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2003/068463
Kind Code:
A1
Abstract:
In order to solve the conventional technical problem generated during an assembling work, it is possible to provide a robot control device capable of assembling a part having a screw at a high speed without damaging the part. The robot control device includes assembling work condition setting means (15) for setting an assembling condition, state monitoring means (7) for monitoring an operation state from information on the instruction position of a robot (1) and the feedback position, operation pattern selection means (8) for deciding the operation pattern of the robot (1) according to an output result of the assembling work condition setting means (15) and the state monitoring means (7), operation pattern generation means (9) for generating an orbit according to the output of the operation pattern selection means (8), and compliance control means (14) for limiting generation of action force greater than a predetermined value.
Inventors:
HASHIGUCHI YUKIO (JP)
TAKAOKA KEIICHI (JP)
TAKAOKA KEIICHI (JP)
Application Number:
PCT/JP2003/001398
Publication Date:
August 21, 2003
Filing Date:
February 10, 2003
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
HASHIGUCHI YUKIO (JP)
TAKAOKA KEIICHI (JP)
HASHIGUCHI YUKIO (JP)
TAKAOKA KEIICHI (JP)
International Classes:
B25J13/00; B25J9/16; (IPC1-7): B25J13/00; B23P19/02; B25J9/10
Foreign References:
| JPH1195822A | 1999-04-09 | |||
| JPH06309040A | 1994-11-04 | |||
| JPH05108108A | 1993-04-30 | |||
| JPH1034575A | 1998-02-10 | |||
| JPS6288589A | 1987-04-23 | |||
| JPH08112789A | 1996-05-07 | |||
| US3984006A | 1976-10-05 |
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