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:
Feb. 21, 2012
Filed:
Sep. 17, 2008
Yasuhiko Hashimoto, Kobe, JP;
Nobuyasu Shimomura, Kobe, JP;
Takao Yamaguchi, Kato-gun, JP;
Tetsuya Yoshida, Kakogawa, JP;
Yasuhiko Hashimoto, Kobe, JP;
Nobuyasu Shimomura, Kobe, JP;
Takao Yamaguchi, Kato-gun, JP;
Tetsuya Yoshida, Kakogawa, JP;
Kawasaki Jukogyo Kabushiki Kaisha, Kobe-shi, JP;
Abstract
A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory. The control unit is further adapted for changing a pressing force of the end effector against a target by changing a control loop gain, and bringing the end effector into contact with the target, while setting the control loop gain of the wrist axis lower than a predetermined value at least from a position adjacent to the teaching point at which the target is located, so as to capture a position in a state in which the end effector is in contact with the target, thereby detecting the position of the target.