US 12,318,914 B2
Device for correcting robot teaching position, teaching device, robot system, teaching position correction method, and computer program
Wanfeng Fu, Yamanashi (JP); and Kyouhei Kokubo, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/916,028
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Mar. 26, 2021, PCT No. PCT/JP2021/013092
§ 371(c)(1), (2) Date Sep. 30, 2022,
PCT Pub. No. WO2021/200743, PCT Pub. Date Oct. 7, 2021.
Claims priority of application No. 2020-067082 (JP), filed on Apr. 2, 2020.
Prior Publication US 2023/0158687 A1, May 25, 2023
Int. Cl. B25J 13/08 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 13/089 (2013.01) [B25J 9/0081 (2013.01); B25J 9/1697 (2013.01); B25J 19/023 (2013.01); B25J 9/1664 (2013.01); G05B 2219/40383 (2013.01); G05B 2219/40387 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A device configured to correct a teaching position of a robot when an arrangement of a workpiece with respect to the robot changes, by using an index arranged at a predetermined position with respect to the workpiece, the device comprising a processor configured to:
acquire first position data of the robot when a hand-tip portion of the robot is arranged in a predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a first orientation, before change of the arrangement of the workpiece;
acquire second position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in the state where the hand-tip portion is arranged at the first orientation, after the change of the arrangement of the workpiece, the second position data being different from the first position data;
acquire orientation change data indicating a change amount in an orientation of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the second position data;
acquire third position data of the robot when the hand-tip portion is arranged in the predetermined positional relationship with the index in a state where the hand-tip portion is arranged at a second orientation which is corrected from the first orientation by using the orientation change data;
acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data; and
control an operation of the robot, based on the orientation change data and the position change data.