Nidec Corporation

Thanh Nhat Doan

Haruhiro Tsuneta

Masahiro Yoshida

Takeshi Kusaka

A method of adjusting a posture of a 6-axis robot standing in a direction perpendicular or substantially perpendicular to a robot mounting surface includes specifying axis central positions of three axes located at different heights in the direction perpendicular or substantially perpendicular to the robot mounting surface of the 6-axis robot, specifying two planes including two arcs of which rotation centers are represented by two axes farther away from the robot mounting surface among the three axes, specifying a position of a predetermined point on the arc farther away from the robot mounting surface among the two arcs, and determining an angle adjustment amount of the three axes in a rotation direction and an angle adjustment amount of an axis extending between the two axes in a rotation direction based on the specified axis central positions of the three axes, the specified two planes, and the specified position of the predetermined point.

Method of adjusting posture of 6-axis robot

A method of evaluating calibration precision includes a setting step of setting a three-dimensional lattice structure including lattice points and a movement instructing step of moving an arm tip of a calibrated robot from a first lattice point to a second lattice point spaced from the first lattice point. The method includes a calculating step of calculating a difference between a movement instruction value given to the robot and an actual distance by which the arm tip of the robot is moved. The method includes a repeat controlling step of repeating the movement instructing step and the calculating step multiple times using a pair of lattice points other than the first and second lattice points and a presenting step of presenting differences obtained by the repeat controlling step.

Method and device for evaluating calibration precision

A robot control apparatus includes a section setter to set, on a straight line connecting a start point to an end point, an acceleration section until reaching a predetermined angular velocity, a constant velocity section in which the predetermined angular velocity is maintained, and a deceleration section in which the predetermined angular velocity is decreased, a segment setter to divide each of the acceleration section, the constant velocity section, and the deceleration section into a plurality of segments and to set segment distances of each of the acceleration section, the constant velocity section, and the deceleration section so as to equalize or substantially equalize moving times of the segments of the reference point to each other, and when the reference point is moved in each of the segments according to point to point control, an angular velocity setter to set an angular velocity of each of the segments based on a variance in an angle of a joint which becomes maximum with respect to each of the segments in each of the acceleration section, the constant velocity section, and the deceleration section.

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Kyoto, Japan

Thanh Nhat Doan