US 12,005,582 B2
Controller and control system
Takashi Satou, Yamanashi (JP)
Assigned to Fanuc Corporation, Yamanashi (JP)
Filed by Fanuc Corporation, Yamanashi (JP)
Filed on Sep. 30, 2019, as Appl. No. 16/588,081.
Claims priority of application No. 2018-187717 (JP), filed on Oct. 2, 2018; and application No. 2019-108190 (JP), filed on Jun. 10, 2019.
Prior Publication US 2020/0101603 A1, Apr. 2, 2020
Int. Cl. B25J 9/16 (2006.01); B25J 11/00 (2006.01); G05B 13/02 (2006.01); G05B 19/05 (2006.01); G05B 19/408 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/161 (2013.01); B25J 11/005 (2013.01); G05B 13/024 (2013.01); G05B 19/05 (2013.01); G05B 19/4083 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A controller configured to control an industrial robot having a function of detecting at least a force applied to a manipulator, the controller comprising:
at least one memory; and
at least one processor configured to:
obtain at least the force applied in a feed direction of the manipulator and a moment about an axis of the feed direction of the manipulator, and a control command of the industrial robot as acquisition data, wherein the feed direction is a fitting direction of a part grasped by the manipulator to a predetermined position of another part;
generate, based on the acquisition data, data including information indicating the force applied to the manipulator in only the feed direction and information indicating the control command of the industrial robot; and
generate, based on the generated data, a neural network configured to output a value to determine an adjustment action of the control command for a change in at least one of a force, speed or torque applied in only the feed direction of the manipulator,
wherein a change is made of a command value for at least one of the force, speed or torque of the control command related to the feed direction of the manipulator when the determined value exceeds a predetermined threshold during the control of the industrial robot.