Document Type and Number:
Japanese Patent JPWO2023012908
Kind Code:
A1
Abstract:
There have been situations in which, when a robot swings a tool in a weaving motion, the robot would resonate and, consequently, work quality would suffer. A device 80 comprises: a weaving signal generation unit 56 that generates a weaving signal for causing a robot 12 to swing a tool; a chronological data acquisition unit 60 for acquiring chronological data of the amplitude value of the tool when the robot 12 is caused to execute a weaving motion according to the weaving signal; a frequency characteristic acquisition unit 62 for acquiring a first frequency characteristic of chronological data; a resonance determination unit 64 for determining, on the basis of the first frequency characteristic, whether or not the robot is resonating at the frequency of the weaving signal generated by the weaving signal generation unit; and a correction unit 68 for correcting the weaving signal so as to change frequencies if the robot 12 is determined to be resonating.
Application Number:
JP2023539428A
Publication Date:
February 09, 2023
Filing Date:
August 03, 2021
Export Citation:
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