Title:
ROBOT SYSTEM, ROBOT ADJUSTMENT DEVICE, PROGRAM, AND ROBOT MANUFACTURING METHOD
Document Type and Number:
WIPO Patent Application WO/2023/157151
Kind Code:
A1
Abstract:
Provided is a robot system including: a multi-joint robot having a plurality of shafts; and a controller for controlling the robot. The controller comprises: a storage unit for storing a relational expression that indicates the relationship between the plurality of shafts and the fingers of the robot and that has elements which have been adjusted to the individual robot by using an optimization scheme; and a command generation unit that generates an operation command for the robot on the basis of the relational expression stored in the storage unit. Provided is a robot adjustment device comprising: a sensor value information acquisition unit that acquires sensor value information pertaining to the plurality of shafts or the fingers of the robot during operation of the multi-joint robot having the plurality of shafts; a shaft-related information acquisition unit that acquires shaft-related information related to the plurality of shafts during operation of the robot; and an adjustment unit that uses an optimization scheme to adjust the elements in the relational expression on the basis of the discrepancy between the sensor value information and calculation information, said calculation information having been calculated by using the axis-related information and the relational expression that indicates the relationship between the plurality of shafts and the fingers of the robot.
Inventors:
YOKOYA TSUYOSHI (JP)
Application Number:
PCT/JP2022/006271
Publication Date:
August 24, 2023
Filing Date:
February 16, 2022
Export Citation:
Assignee:
YASKAWA ELECTRIC CORP (JP)
International Classes:
B25J9/10
Domestic Patent References:
| WO2020255312A1 | 2020-12-24 | |||
| WO2017026045A1 | 2017-02-16 |
Foreign References:
| JP2011224662A | 2011-11-10 | |||
| JP2019209404A | 2019-12-12 | |||
| JP2012020367A | 2012-02-02 | |||
| US20150148953A1 | 2015-05-28 |
Attorney, Agent or Firm:
RYUKA & PARTNERS (JP)
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