Fanuc Corporation

Kunihiko Harada

Hiromitsu Takahashi

Soichi Arita

Yasuhiro Nakahama

Takahiro Tanaka

A robot installation position measurement device includes a first position information acquisition unit that acquires first position information, which is a three-dimensional command position of a tool center point fixed with respect to a flange at a tip of a robot, in a state in which the robot is positioned in a desired pose, a second position information acquisition unit that acquires, by a three-dimensional measurement instrument installed with a predetermined measurement coordinate system, second position information, which is a three-dimensional actual position of the tool center point in the pose, and a coordinate system correction unit that corrects a robot coordinate system, with which the robot operates, such that a difference between pieces of the first position information and pieces of the second position information acquired in states in which the robot is positioned in multiple different poses becomes small.

Robot installation position measurement device, installation position measurement method, robot controller, teaching system, and simulator

Provided is a robot system with which it is possible to easily set an error parameter. The robot system according to an embodiment of the present disclosure comprises a robot, a measurement device attached to an end of the robot, a target mark fixed to a work space for the robot, and a robot control device for controlling the robot. The robot control device has: a parameter storage unit for storing a plurality of error parameters used to calculate the position of a reference point for the end of the robot; a command value generation unit for generating a command value indicating a required position or speed of a drive shaft of the robot, upon taking an error parameter into account; a position information acquisition unit for acquiring position information for the reference point on the basis of the relative position of the target mark measured by the measurement device relative to the measurement device and coordinate information for the target mark in a user coordinate system; and a parameter correction unit for correcting an error parameter on the basis of the command value and the position information.

Robot system

According to the present invention, provided is a robot control device that can improve relatively easily the positioning accuracy of a robot. A robot control device according to one aspect of the present disclosure comprises: a position information acquisition unit which acquires position information indicating the actual position of a reference point at the end of a robot having a plurality of drive shafts; a parameter storage unit which stores a plurality of error parameters used to calculate the accurate position of the reference point from a command value for the robot; a sensitivity calculation unit which calculates a sensitivity value representing the magnitude of the change amount of the calculated position of the reference point with respect to the change amount for each error parameter; a target selection unit which selects, on the basis of the sensitivity value, an error parameter to be corrected by the parameter correction unit; and a parameter correction unit which corrects the error parameter to be corrected on the basis of the command value for the robot and the position information, assuming that error parameters other than the error parameter to be corrected do not affect the position of the reference point.

Robot controller

A combined system having a function for rapidly detecting and correcting a positional misalignment between a machine tool and a robot. The combined system includes: a machine tool having a table and a workpiece fixing jig integrally movable with the table; a robot system separated from the machine tool and having a robot configured to supply or take out a workpiece to or from the jig; a network for information transmission between the machine tool and the robot; an interference judging part which judges occurrence of interference, based on a disturbance value of each axis of the robot, when the workpiece is supplied to or taken out from the jig; and an interference avoiding part which, when it is judged that the interference occurs, stops a motion of the robot and moves the table in a direction of at least one axis based on the disturbance value.

Combined system having machine tool and robot

A robot control device includes a correction amount calculation unit that calculates a correction amount for collecting a deviation of a tip position of a tool attached to a tip of a robot due to an external force applied to the tool and a correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time.

Control device for robot that performs work by pressing tool against workpiece

A robot control device, when starting from a stop state, updates a first rotation angle or a second rotation angle based on at least one of the first rotation angle stored in a first rotation angle storage unit and the second rotation angle stored in a second rotation angle storage unit and at least one of the first rotation angle detected by a first rotation angle detector and the second rotation angle detected by the second rotation angle detector.

Growing community of inventors

Yamanashi, Japan

Kunihiko Harada