Title:
ROBOT CONTROL METHOD AND ROBOT CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2024/024578
Kind Code:
A1
Abstract:
The present invention determines whether the rotational direction of an arm (63) immediately prior to stop of input of a position command θcom is in a first direction (upward) that is opposite to the gravitational direction or in a second direction (downward) that is same as the gravitational direction. In the case when it is determined that said rotational direction is in the first direction (upward), an additional command is inputted to a motor (68) so as to cause the arm (63) first to overshoot in the first direction (upward) and then gradually come closer to a standby position, whereas in the case when it is determined that the rotational direction is in the second direction (downward), an additional command is inputted to the motor (68) so as to cause the arm (63) first to not overshoot in the second direction (downward) and then gradually come closer to the standby position.
Inventors:
NAKATA HIROYUKI
UEDA HIROYOSHI
HASHIMOTO ATSUMI
YAMAMOTO RYOSUKE
IWATANI MASAYOSHI
UEDA HIROYOSHI
HASHIMOTO ATSUMI
YAMAMOTO RYOSUKE
IWATANI MASAYOSHI
Application Number:
PCT/JP2023/026310
Publication Date:
February 01, 2024
Filing Date:
July 18, 2023
Export Citation:
Assignee:
PANASONIC IP MAN CO LTD (JP)
International Classes:
B25J9/10; B25J13/00
Domestic Patent References:
| WO2011004587A1 | 2011-01-13 |
Foreign References:
| JPH05307412A | 1993-11-19 | |||
| JPH0529688U | 1993-04-20 |
Attorney, Agent or Firm:
KAMATA Kenji et al. (JP)
Download PDF:
Previous Patent: VEHICLE LIGHT DISTRIBUTION SYSTEM AND VEHICLE LIGHT DISTRIBUTION METHOD
Next Patent: LASER WELDING MONITORING APPARATUS
Next Patent: LASER WELDING MONITORING APPARATUS