US 12,447,619 B2
Rebot control method using non-contact displacement sensor and apparatus thereof
Seung Won Seo, Gyeonggi-do (KR)
Assigned to GSF SOLUTION CO., LTD., Chungcheongbuk-Do (KR)
Filed by GSF SOLUTION CO., LTD., Chungcheongbuk-do (KR)
Filed on Jan. 9, 2024, as Appl. No. 18/407,594.
Claims priority of application No. 10-2023-0002695 (KR), filed on Jan. 9, 2023.
Prior Publication US 2024/0227186 A1, Jul. 11, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01); H01L 21/68 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1692 (2013.01); B25J 19/022 (2013.01); H01L 21/681 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A robot control method using a non-contact displacement sensor, comprising steps of:
checking a normal position according to a robot's motion range through the non-contact displacement sensor installed horizontally to an end effector of the robot;
measuring displacement with respect to the end effector to obtain displacement data when a product is transferred by the robot;
obtaining vibration data through a vibration sensor coupled to the robot;
checking whether an abnormal state exists using the obtained displacement data and vibration data; and
transmitting an adjustment value to correct displacement distortion of the robot when the robot is confirmed to be in the abnormal state.