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:
May. 11, 2021
Filed:
Feb. 21, 2018
Fanuc Corporation, Yamanashi, JP;
FANUC CORPORATION, Yamanashi, JP;
Abstract
A control device includes a learning control part in which a difference is calculated between a target position and an actual position of a portion detected based on a sensor, and an operation-speed change rate is increased or reduced several times within a maximum value of the operation-speed change rate set for increasing or reducing the operation speed of a robot mechanism unit and within allowance conditions of vibrations occurring at the portion to be controlled; meanwhile, learning is repeated to calculate an updated compensation amount based on the difference and a previous compensation amount previously calculated for suppressing vibrations at each operation-speed change rate, and a convergent compensation amount and a convergent operation-speed change rate are stored after convergence of the compensation amount and the operation-speed change rate.