Method and apparatus for correcting motions of robot
US10668620B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 18, 2017 |
| Grant date | Jun 2, 2020 |
| Priority date | — |
| Expiry date | Nov 30, 2038 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/41
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
In an industrial robot, correction is made for change in position and attitude of an arm distal end due to mechanical deflection of the robot. In the robot, a moment applied to the first axis in its non-rotation direction opposite to its rotation direction is calculated from a load torque applied to the second axis in its rotation direction, a moment due to a second-axis-side self-weight, and a ratio of a distance between the rotation centers of the first and second axes, to a distance between the rotation centers of the second axis and a tool. A deflection amount indicating an angle of the first axis tilting in the non-rotation direction is calculated from the moment applied to the first axis and the rigidity of the first axis in the non-rotation direction. A control value is corrected based on the deflection amount to control the robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.