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. 14, 2025
Filed:
May. 24, 2021
Fanuc Corporation, Yamanashi, JP;
Mikito Hane, Yamanashi, JP;
Fanuc Corporation, Yamanashi, JP;
Abstract
When performing work on a workpiece with a tool of a robot while the robot and the workpiece are moved relative to each other by an additional axis mechanism, the tool is to be pressed against the workpiece from an appropriate direction. A control device configured to perform the work includes a processor that acquires an additional axis movement amount, generates a movement command for a robot based on operation plan data of the robot and the additional axis movement amount, based on the operation plan data or the additional axis movement amount, acquires a vector in a direction along a work target portion of a workpiece, and determines a pressing direction in which the robot is to press the tool against the workpiece during work by multiplying the acquired vector by a known rotation vector.