US 12,447,613 B2
Robot control device and robot system
Satoshi Inagaki, Yamanashi (JP); and Hajime Suzuki, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/248,466
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Dec. 14, 2021, PCT No. PCT/JP2021/046108
§ 371(c)(1), (2) Date Apr. 10, 2023,
PCT Pub. No. WO2022/138337, PCT Pub. Date Jun. 30, 2022.
Claims priority of application No. 2020-211689 (JP), filed on Dec. 21, 2020.
Prior Publication US 2023/0364789 A1, Nov. 16, 2023
Int. Cl. B25J 9/16 (2006.01); B23K 11/11 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1661 (2013.01) [B23K 11/115 (2013.01); B25J 11/005 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A robot control device that, in order to perform a task in relation to a target object which is made to move by a robot, controls operation by the robot based on an operation program that uses a plurality of pass-through points to specify a movement path that includes one or more task sections in which the task is to be performed, the robot control device comprising:
a processor configured to function as:
a command value generation unit configured to, based on the operation program, generates a command value that instructs a state of the robot for each time;
a driving unit configured to drive the robot in accordance with the command value;
a vibration amount obtainment unit configured to obtain an amount of vibration of the robot that is driven by the driving unit;
a vibration amount extraction unit configured to, based on the operation program, extract an amount of vibration for a time at which the driving unit drives the robot to perform the task in the one or more task sections from among the amounts of vibration obtained by the vibration amount obtainment unit and ignore an amount of vibration for a time at which the driving unit drives the robot along the movement path outside the one or more task sections; and
a command value correction unit configured to, based on the amount of vibration extracted by the vibration amount extraction unit, correct the command value.