Fanuc Corporation

Wang Yuelai

Soichi Arita

Yasuhiro Naitou

A controller includes a parameter setting unit that invalidates first mechanism error parameters. The controller includes a measurement control unit that drives a robot with a plurality of orientations at a plurality of positions by using second mechanism error parameters other than the first mechanism error parameters and measures the actual measurement position of the robot by a three-dimensional measuring device. The controller includes a parameter calculation unit that calculates the first mechanism error parameter based on the actual measurement position of the robot and the rotation position of a robot drive motor. The controller includes a correction unit that changes the first mechanism error parameter invalidated by the parameter setting unit to the first mechanism error parameter calculated by the parameter calculation unit.

Calibration apparatus for calibrating mechanism error parameter for controlling robot

A conveying system includes an external force calculation unit which calculates an external force applied to a robot based on a force or torque applied to the robot detected by a force detection unit, and workpiece parameters changed in accordance with the holding state of a workpiece, and a robot stopping unit which stops the robot when the calculated external force exceeds a threshold. The conveying system further includes a relative movement unit which moves the held workpiece and a workpiece support relative to each other. By the relative movement unit, the workpiece and workpiece support are moved relative to each other without changing the position and posture of the robot.

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Yamanashi, Japan

Wang Yuelai