US 12,454,060 B2
Control device
Kouichirou Hayashi, Yamanashi (JP); Tomoyuki Yamamoto, Yamanashi (JP); and Hajime Suzuki, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/278,096
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Mar. 22, 2022, PCT No. PCT/JP2022/013072
§ 371(c)(1), (2) Date Aug. 21, 2023,
PCT Pub. No. WO2022/210078, PCT Pub. Date Oct. 6, 2022.
Claims priority of application No. 2021-055120 (JP), filed on Mar. 29, 2021.
Prior Publication US 2024/0123623 A1, Apr. 18, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1694 (2013.01) [B25J 9/1674 (2013.01); B25J 19/02 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A control device for controlling a robot provided with a sensor, the control device comprising:
a memory; and
a processor, wherein
the memory is configured to;
store coordinate system information related to a preset sensor coordinate system of the sensor; and
store setting information related to communication with the sensor, and
the processor is configured to;
receive sensor data detected by the sensor based on the setting information;
detect an angle of each of a plurality of axes included in the robot;
estimate sensor values to be detected by the sensor, through a forward transformation using the angles of the respective axes detected and a coordinate transformation of the sensor coordinate system; and
compare values of the sensor data against the sensor values estimated, and determine that the processor is receiving sensor data from a sensor provided on another robot if a difference between the values of the sensor data and the estimated sensor values is greater than a preset threshold,
wherein, the robot includes movable members connected by the plurality of axes and servomotors disposed in the respective axes, and the control device drives the movable members by driving each of the servomotors.