US 12,290,931 B2
Robot controller
Kunihiko Harada, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/001,448
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Jul. 27, 2021, PCT No. PCT/JP2021/027744
§ 371(c)(1), (2) Date Dec. 9, 2022,
PCT Pub. No. WO2022/025060, PCT Pub. Date Feb. 3, 2022.
Claims priority of application No. 2020-127989 (JP), filed on Jul. 29, 2020.
Prior Publication US 2023/0234225 A1, Jul. 27, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/163 (2013.01); B25J 9/1692 (2013.01); B25J 13/088 (2013.01); B25J 9/1633 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A robot controller comprising:
a position information acquisition unit configured to acquire position information indicating an actual position of a reference point at a distal end of a robot having a plurality of drive axes;
a parameter storage unit configured to store therein a plurality of error parameters to be used to calculate an exact position of the reference point from command values for the robot;
a sensitivity calculation unit configured to calculate, for each of the error parameters, a sensitivity value that represents magnitude of a change in a calculatory position of the reference point with respect to a change in the error parameter;
a target selection unit configured to select, based on the sensitivity values, correction target error parameters from among the plurality of error parameters; and
a parameter correction unit configured to correct for the correction target error parameters based on the command values for the robot and the position information, on an assumption that the error parameters other than the correction target error parameters have no impact on the position of the reference point.