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:
Aug. 25, 2020
Filed:
Oct. 05, 2016
Kawasaki Jukogyo Kabushiki Kaisha, Kobe-shi, Hyogo, JP;
Masayuki Watanabe, Kobe, JP;
Masayuki Nishimura, Akashi, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe-shi, JP;
Abstract
By repeating for each control axis, that an axis angle of each control axis of an arm is detected during a direct teaching of a robot, a current position of a standard point defined on the arm or a tool is obtained based on the axis angle, a position instruction value that uses a position obtained by projecting the current position on a given movement route (moving direction) is generated as a target position, and each control axis is driven based on the position instruction value, until a deviation of an instruction angle corresponding to the position instruction value and the detected axis angle, or a deviation of the position instruction value and the current position of the standard point corresponding to the detected axis angle reaches a given value or below, the robot is taught, after the deviation becomes the given value or below, positional information on the arm.