Title:
ROBOT CONTROL METHOD, ROBOT DEVICE, PROGRAM, RECORDING MEDIUM, AND METHOD FOR MANUFACTURING ASSEMBLED COMPONENT
Document Type and Number:
Japanese Patent JP2016013613
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To increase work efficiency of a multi-joint robot.SOLUTION: Each servomotor 1 is feedback controlled so that a detection angle detected by each input side encoder 10 becomes a target angle at which a robot tip moves to a positioning completion position of a first operation. Next, a position of the robot tip is obtained on the basis of a detection angle detected by each output side encoder 16. Time is obtained from a time point at which the detection angle of each input side encoder 10 is made the target angle according to the feedback control up to a time point at which a swing width of the calculated position of the robot tip relative to the positioning completion position converges within a convergence range. The obtained time is set to be downtime of the robot.
Inventors:
ISHIKAWA TAKAHIRO
OZAKA TSUTOMU
KAWAMURA SHUNSUKE
OZAKA TSUTOMU
KAWAMURA SHUNSUKE
Application Number:
JP2015116356A
Publication Date:
January 28, 2016
Filing Date:
June 09, 2015
Export Citation:
Assignee:
CANON KK
International Classes:
B25J13/00
Domestic Patent References:
| JPS6355607A | 1988-03-10 | |||
| JPH07295615A | 1995-11-10 | |||
| JP2014065097A | 2014-04-17 | |||
| JPH01276316A | 1989-11-06 | |||
| JPH05301196A | 1993-11-16 | |||
| JP2003080528A | 2003-03-19 |
Attorney, Agent or Firm:
Kazuo Chikajima
Takashi Daejeon
Takashi Daejeon