Kobe Steel, Ltd.

Kenichiro Kanao

Yoshiharu Nishida

Naoki Kida

Atsushi Fukunaga

Mami Yomoda

Yoshihisa Tamase

Takashi Yamada

A spring constant correction device and method measure a position and attitude of a distal end of an articulated robot when the articulated robot is operated in a state where elastic deformation is compensated, compare measurement values of the position and attitude of the distal end and target values of the position and attitude, and correct a spring constant based on a result of the comparison. In case of the correction, the spring constant is corrected at a predetermined position based on at least three of: an angle of an end point attitude based on the measured attitude; a torque of the distal end in the end point attitude; an angle of the distal end in a target attitude; and a torque of the distal end in the target attitude. A program of such a method is recorded in a recording medium.

Spring constant correction device, method therefor, and recording medium

A robot control device according to the present invention is configured to: detect a collision of a robot with an object at a predetermined collision detection sensitivity; perform control of operating the robot, and stopping the robot when a detection part detects the collision; and decrease, when a predetermined circumstance causing the robot to have a low temperature is satisfied, the collision detection sensitivity compared to when the predetermined circumstance is unsatisfied.

Robot control device, robot control method, and robot control program

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Fujisawa, Japan

Kenichiro Kanao