The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 02, 2020
Filed:
Dec. 18, 2017
Denso Wave Incorporated, Chita-gun, Aichi-pref., JP;
Takafumi Fukuoka, Chita-gun, JP;
Yuto Kawachi, Chita-gun, JP;
Hiroaki Shiratori, Chita-gun, JP;
Daisuke Kawase, Chita-gun, JP;
DENSO WAVE INCORPORATED, Aichi-Pref., JP;
Abstract
In an industrial robot, correction is made for change in position and attitude of an arm distal end due to mechanical deflection of the robot. In the robot, a moment applied to the first axis in its non-rotation direction opposite to its rotation direction is calculated from a load torque applied to the second axis in its rotation direction, a moment due to a second-axis-side self-weight, and a ratio of a distance between the rotation centers of the first and second axes, to a distance between the rotation centers of the second axis and a tool. A deflection amount indicating an angle of the first axis tilting in the non-rotation direction is calculated from the moment applied to the first axis and the rigidity of the first axis in the non-rotation direction. A control value is corrected based on the deflection amount to control the robot.