Title:
ROBOT CONTROL SYSTEM, CONTROL PROGRAM, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2021/261023
Kind Code:
A1
Abstract:
This robot control system includes: a robot which causes a first workpiece gripped by a hand to approach a second workpiece; a movement mechanism which is mechanically connected to the robot and the hand, and which causes displacement between the robot and the hand; a first control unit which provides a control command to the robot so as to cause the first workpiece to approach the second workpiece; an error calculation unit which calculates a positioning error that occurs when the robot causes the first workpiece to approach the second workpiece; and a second control unit which provides a control command to the movement mechanism so as to compensate for the positioning error calculated by the error calculation unit.
Inventors:
NAKANO MASAHIKO (JP)
OKURA TAKAFUMI (JP)
YASUDA KEI (JP)
OKURA TAKAFUMI (JP)
YASUDA KEI (JP)
Application Number:
PCT/JP2021/008669
Publication Date:
December 30, 2021
Filing Date:
March 05, 2021
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
B25J9/10; B25J9/16; B25J13/08
Domestic Patent References:
| WO2020017426A1 | 2020-01-23 |
Foreign References:
| US6430472B1 | 2002-08-06 |
Attorney, Agent or Firm:
FUKAMI PATENT OFFICE, P.C. (JP)
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