Title:
ROBOT SYSTEM AND ROBOT CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2022/024976
Kind Code:
A1
Abstract:
The present invention makes it possible, in force control during production, to automatically adjust a force control parameter optimally so as not to cause oscillation of a robot or failure of work. This robot system comprises: a robot arm having a hand at the end thereof for holding a workpiece; a force detector for detecting a force and moment received by the workpiece held by the hand; and a control device for moving the workpiece held by the hand with respect to a target object while performing force control of the robot arm to correct a position error and an attitude error of the workpiece, on the basis of a predetermined force control parameter and a detected value of the force detector. The control device has a parameter automatic adjustment unit for automatically adjusting the force control parameter by executing the moving of the workpiece with respect to the target object a plurality of times. The parameter automatic adjustment unit automatically adjusts the force control parameter by executing the moving of the workpiece with respect to the target object from a plurality of attitude error directions among a plurality of position error directions and the plurality of attitude error directions.
Inventors:
YAMAOKA NOBUAKI (JP)
SATOU TAKASHI (JP)
SATOU TAKASHI (JP)
Application Number:
PCT/JP2021/027495
Publication Date:
February 03, 2022
Filing Date:
July 26, 2021
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
B25J13/08
Domestic Patent References:
| WO2019017416A1 | 2019-01-24 |
Foreign References:
| JP2014233814A | 2014-12-15 |
Attorney, Agent or Firm:
SHOBAYASHI Masayuki et al. (JP)
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