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:
Sep. 18, 2012
Filed:
Feb. 17, 2011
Tetsuaki Kato, Minamitsuru-gun, JP;
Masakazu Ichinose, Minamitsuru-gun, JP;
Kiyonori Inaba, Minamitsuru-gun, JP;
Tetsuaki Kato, Minamitsuru-gun, JP;
Masakazu Ichinose, Minamitsuru-gun, JP;
Kiyonori Inaba, Minamitsuru-gun, JP;
Fanuc Corporation, Minamitsuru-gun, Yamanashi, JP;
Abstract
A robot having a learning control function is disclosed. The robot includes a robot mechanism unit with a sensor on a part to be positionally controlled and a control unit for controlling the operation of the robot mechanism unit. The control unit includes a normal control unit for controlling the operation of the robot mechanism unit, and a learning control unit for operating the robot mechanism unit according to a task program and carrying out the learning to calculate the learning correction amount in order that position of the part of the robot mechanism unit to be controlled which is detected by the sensor approaches a target trajectory or a target position assigned for the normal control unit. The learning control unit calculates the maximum speed override that can be set with in the learning operation, and carries out the learning to calculate the learning correction amount while increasing the speed override a plurality of times until the maximum speed override is reached.