US 12,220,824 B2
Correction device, correction method, and robot system
Masaaki Maeda, Tokyo (JP); and Kaoru Kitajima, Tokyo (JP)
Assigned to Hitachi, Ltd., Tokyo (JP)
Filed by Hitachi, Ltd., Tokyo (JP)
Filed on Mar. 1, 2023, as Appl. No. 18/116,097.
Claims priority of application No. 2022-063883 (JP), filed on Apr. 7, 2022.
Prior Publication US 2023/0321836 A1, Oct. 12, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1653 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A correction device comprising:
a measurement point generation unit configured to generate a plurality of candidate points corresponding to posture of a robot within a movable range of the robot based on robot mechanism model information representing a mechanism of the robot and end effector information concerning an end effector installed in the robot, and determine, among the generated plurality of candidate points, a candidate point at which joint torque τ of each joint of the robot in the posture corresponding to each candidate point is equal to or more than a predetermined threshold as a measurement point; and
a control unit configured to calculate a position error between a calculated position and a measured position of the end effector in the posture corresponding to the measurement point and identify mechanism error parameters so that the calculated position error is minimized.