Title:
ロボットシステム及びロボットの制御方法
Document Type and Number:
Japanese Patent JP6821934
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a robot system which can enhance process tolerance of a processed body, and a robot controlling method.SOLUTION: A robot control part stores a position of a tip of an end effector at a constant time interval during a teaching mode for teaching a motion trajectory of a robot, and calculates a normal direction of a surface of a processed body at each teaching point which comprises each position of the end effector stored at the constant time interval during the teaching mode, and controls the motion trajectory of the robot during a processing mode for processing the processed body on the basis of the normal direction at every calculated teaching point.SELECTED DRAWING: Figure 6
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Inventors:
Koichiro Hayashi
Application Number:
JP2016068049A
Publication Date:
January 27, 2021
Filing Date:
March 30, 2016
Export Citation:
Assignee:
Ihi Co., Ltd.
International Classes:
B25J9/22; B25J9/10; G05B19/42
Domestic Patent References:
| JP8257955A | ||||
| JP5303422A | ||||
| JP8141961A | ||||
| JP775982A | ||||
| JP2006268188A |
Attorney, Agent or Firm:
Shinji Oga
Hiroyuki Hyakumoto
Hiroyuki Hyakumoto