Fanuc Corporation

Kokoro Hatanaka

Takashi Sato

Kazunori Ban

Ryo Nihei

Tetsuaki Kato

Soichi Arita

Toshinari Tamura

Takashi Room 8-107 Fanuc Sato

The objective of the present invention is to allow a user to recognize, at a glance, the degree to which deterioration is occurring to a specific torque sensor from among torque sensors provided for an articulated arm of a robot. In the control device for a robot provided with sensors each of which detects an external force torque about a joint, the objective is achieved by providing a display device which displays, together with 3D graphics of a robot body, a warning icon in color at a mounted location of a deteriorated torque sensor, and changes the color according to the degree of deterioration.

Robot control device

To facilitate confirmation as to whether or not it is data measured by the same operation upon acquiring measurement data in an industrial machine. A learning data confirmation support devicethat facilitates confirmation of contamination of inappropriate data when learning data including only normal data are acquired in advance, in order to detect an anomaly of an industrial machine using machine learning, includes a data acquisition unitthat acquires measurement data including time-series data representing at least one of a predetermined state quantity or control quantity relating to control when the industrial machine is made to perform a certain operation; and a display control unitthat aligns a plurality of pieces of time-series data acquired by the data acquisition unit in a direction of a time axis and, in this state, superimposes a same type of pieces of data of the time-series data to display in a graph.

Learning data confirmation support device, machine learning device, and failure predicting device

An off-line programming apparatus includes a model creation unit that creates three-dimensional models of a robot and a load, a storage unit that stores a dynamic parameter of the load, a graphic creation unit that creates a three-dimensional graphic representing the dynamic parameter based on the dynamic parameter, and a display unit that displays the three-dimensional models of the robot and the load and the three-dimensional graphic. The dynamic parameter includes inertia around three axes that are orthogonal to one another at a centroid of the load. The three-dimensional graphic is a solid defined by dimensions in three directions orthogonal to one another. The graphic creation unit sets a ratio of the dimensions in the three directions of the three-dimensional graphic to a ratio corresponding to a ratio of the inertia around the three axes.

Off-line programming apparatus, robot controller, and augmented reality system

A cable damage detection assistance apparatus in a robot mechanism includes a program executor for executing a program to operate a robot, a plurality of times, while changing velocity for driving motors whenever the program is executed; a motor controller for controlling the motors; a state quantity detector for detecting a state quantity indicating an operation state of the robot during the execution of the program; an alarm generator that, when the state quantity exceeds a threshold value, generates an alarm and outputs information about a line number at that time; an alarm database for counting the number of occurrence of alarms on each line number on which the alarm has occurred, and storing the alarm occurrence number on each line number on a velocity-by-velocity basis; and an analysis display for displaying the relationship between the alarm occurrence number and the velocity on each line number.

Cable damage detection assistance apparatus and cable damage detection assistance method in robot mechanism

A robot zero-point calibration device includes an axial position recording unit configured to record positional data of each axis of a robot in each of a plurality of postures when a first positioning point and a second positioning point are made to coincide with each other, the first positioning point being disposed at a predetermined coordinate on a base coordinate system of the robot, and the second positioning point being disposed at a predetermined coordinate on a flange coordinate system of the robot. The device also includes a positional offset calculating unit configured to calculate an offset amount of a zero point of each axis of the robot from a true zero point of the axis based on a plurality of sets of the positional data stored in the axial position recording unit.

Robot zero-point calibration device and method

A surface of a workpiece is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape. This positional data is corrected by an error caused by a bend of a robot. The positional data is compared with the target shape of the surface, from which the burr is removed. A shift of the surface shape in the normal line direction is found. The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position, the shift end position and the shift size. A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed. As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed.

Finishing machine

A controller includes a first data acquiring portion for acquiring a time constant of a position control circuit based on a position command value to a drive source and an actual position value, during operation of a controlled object; a second data acquiring portion for acquiring a rigidity value for the controlled object and a workpiece based on a force data obtained when the controlled object is brought into contact with the workpiece; and an automatic gain calculating portion for calculating a force control gain of a force control circuit from the time constant of the position control circuit acquired by the first data acquiring portion and the rigidity value acquired by the second data acquiring portion, under conditions where a time constant of the force control circuit is larger than the time constant of the position control circuit.

Controller

A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.

Gripping type hand

A method for properly compensating for a backlash between a servomotor and a machine moving part, such as a table, driven by the servomotor in a semi-closed-loop type control. In the semi-closed-loop type servo control, the force of a motor-driven table which acts on a motor is estimated by means of a disturbance observer, the side of the groove of a ball nut directly connected to the table, with which the ridge of the ball thread directly connected to the motor is in contact, is detected by the sign of the value of the estimated force, and the direction of backlash compensation is changed in accordance with the detected result.

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Yamanashi, Japan

Kokoro Hatanaka