Fanuc Corporation

Masakazu Ichinose

Kiyonori Inaba

Tetsuaki Kato

Soichi Arita

Hajime Suzuki

Masatoshi Nakajima

Takahiro Okamoto

A robot controller controls an arm tip end portion of a robot to move at constant predetermined speed on the basis of a movement path including an arc portion, the robot controller including: a centrifugal force calculation unit that calculates a centrifugal force acting on the arm tip end portion as time series data; a transformation unit that performs Fourier transformation with respect to the time series data of the centrifugal force into frequency data; and a speed determination unit that determines the predetermined speed such that a frequency component in a predetermined range including a natural vibration frequency of the robot is equal to or less than a threshold on the basis of frequency data of the centrifugal force.

Robot controller

A numerical controller and a robot controller share interpolation level move data obtained by recording position information for each interpolation period of a robot in association with an index. Based on the interpolation level move data, a preceding position of the robot after the passage of a time (lead time) for calculating a next preceding position since a reference time for interference check is calculated. And, based on the robot preceding position and a preceding position (machine preceding-position) of an axis of the machine after the passage of the lead time, interference between a machine and the robot is checked.

Interference check system for machine tool and robot

A robot () has a robot mechanism unit () having a sensor () and a control unit (), and the control unit () includes a normal control unit () that controls the operation of the robot mechanism unit, and a learning control unit () that, when the robot mechanism unit () is operated by a speed command that is given by multiplying a teaching speed designated in a task program by a speed change ratio, performs learning to calculate, from a detection result by the sensor (), a learning correction amount for making the trajectory or position of the control target in the robot mechanism unit () approach the target trajectory or target position, or for reducing the vibration of the control target, and performs processes so that the control target position of the robot mechanism unit () moves along a fixed trajectory regardless of the speed change ratio.

Robot and spot welding robot with learning control function

A robot having a learning control function is disclosed. The robot includes a robot mechanism unit with a sensor on a part to be positionally controlled and a control unit for controlling the operation of the robot mechanism unit. The control unit includes a normal control unit for controlling the operation of the robot mechanism unit, and a learning control unit for operating the robot mechanism unit according to a task program and carrying out the learning to calculate the learning correction amount in order that position of the part of the robot mechanism unit to be controlled which is detected by the sensor approaches a target trajectory or a target position assigned for the normal control unit. The learning control unit calculates the maximum speed override that can be set with in the learning operation, and carries out the learning to calculate the learning correction amount while increasing the speed override a plurality of times until the maximum speed override is reached.

Robot having learning control function

A robot with a learning control function is disclosed. The robot includes a robot mechanism unit, a learning control unit for obtaining data on positional deviation of the robot mechanism unit upon execution of a task program and executing a learning control for calculating a learning correction amount in order to decrease the positional deviation of the robot mechanism unit below a certain value, a normal control unit for executing a learning operation of the robot mechanism unit in order to obtain the data during the learning control and executing an actual operation of the robot mechanism unit based on the learning correction amount calculated by the learning control unit after executing the learning control, and an anti-exception processing unit for executing an anti-exception process in the case where an exception process occurs during the learning operation or the actual operation.

Growing community of inventors

Minamitsuru-gun, Japan

Masakazu Ichinose