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:
Oct. 18, 2022
Filed:
Feb. 14, 2020
Denso Wave Incorporated, Aichi-pref., JP;
Masanori Sato, Chita-gun, JP;
Yuto Kawachi, Chita-gun, JP;
DENSO WAVE INCORPORATED, Aichi-Pref., JP;
Abstract
There is provided a robot control apparatus that controls a vertical articulated robot and is suitable for direct teaching. In the apparatus, an axis setting section sets operation axes and control axes from among the axes subjected to angle control, when performing the direct teaching of changing a position of the arm tip, while retaining a posture thereof at a target posture. The operation axes can be dominant factors when determining the position of the arm tip and are allowed to freely move according to an external force, and the control axes can be dominant factors when determining the posture of the arm tip and are controlled by an angle control section. When performing the direct teaching, the angle control section receives an input of current angles of the operation axes and the target posture to calculate command angles of the respective control axes according to inverse kinematics calculation.