US 12,434,383 B2
3D printer using robot and control apparatus for robot
Yuuki Kondou, Yamanashi (JP)
Assigned to Fanuc Corporation, Yamanashi (JP)
Appl. No. 18/037,875
Filed by Fanuc Corporation, Yamanashi (JP)
PCT Filed Nov. 26, 2021, PCT No. PCT/JP2021/043480
§ 371(c)(1), (2) Date May 19, 2023,
PCT Pub. No. WO2022/118760, PCT Pub. Date Jun. 9, 2022.
Claims priority of application No. 2020-200551 (JP), filed on Dec. 2, 2020.
Prior Publication US 2024/0009836 A1, Jan. 11, 2024
Int. Cl. B33Y 30/00 (2015.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B29C 64/209 (2017.01); B29C 64/227 (2017.01); B29C 64/393 (2017.01); B33Y 50/02 (2015.01)
CPC B25J 9/1638 (2013.01) [B25J 13/085 (2013.01); B29C 64/209 (2017.08); B29C 64/227 (2017.08); B29C 64/393 (2017.08); B33Y 30/00 (2014.12); B33Y 50/02 (2014.12)] 6 Claims
OG exemplary drawing
 
1. A robot controller configured to control an articulated robot having a nozzle configured to inject material of an object to be modelled, the robot controller comprising:
a control command storage unit configured to store a control command including a planned print path to be followed by the nozzle when the nozzle moves while applying the material to the object;
a deviation estimation unit configured to calculate a printed path corresponding to an actual motion trajectory of the nozzle based on angle information of each of input and output sides of a joint of the articulated robot operated based on the control command, and estimate a deviation between the printed path and the planned print path;
a control command correction unit configured to correct the control command so as to eliminate the estimated deviation; and
an application state estimation unit configured to estimate an application state of the object to be modelled based on a reaction force applied to the nozzle while the material is injected,
wherein the control command correction unit corrects the control command so that the reaction force is within a target range predetermined based on the application state.