Robot control apparatus and robot control method

Patent metadata

Field	Value
Publication number	US-10335950-B2
Application number	US-201715602980-A
Country	US
Kind code	B2
Filing date	May 23, 2017
Priority date	May 31, 2016
Publication date	Jul 2, 2019
Grant date	Jul 2, 2019

Abstract

A robot control apparatus includes a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot and a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit. The storage unit stores the kinematic parameter before updating, and the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter.

First claim

The invention claimed is:

1. A robot control apparatus comprising:
a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot; and
a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit,
wherein, in order for the leading end of the robot to assume a position and an orientation at the time of teaching even when the kinematic parameter has been updated after teaching of the operating program and when the drive axis is operated by executing the operating program using the present kinematic parameter,
the storage unit stores the kinematic parameter before updating,
the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter, and
the drive unit corrects position data of at least one teaching point of the operating program taught before updating of the kinematic parameter, the position data being corrected by using a difference between an angle of the drive axis at which the same position and orientation of the leading end of the robot as those at the time of teaching are realized by using the kinematic parameter before updating and an angle of the drive axis at which the same position and orientation of the leading end of the robot as those at the time of teaching are realized by using the present kinematic parameter.

2. The robot control apparatus according to claim 1 , wherein the storage unit stores, for each operating program, the kinematic parameter at the time the operating program is generated.

3. The robot control apparatus according to claim 1 , wherein the storage unit stores, for each teaching point of the operating program, the kinematic parameter at the time of teaching.

4. The robot control apparatus according to claim 1 , wherein when the kinematic parameter is updated, the kinematic parameter before updating is stored in the storage unit.

5. A robot control apparatus comprising:
a display unit,
a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot; and
a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit,
wherein, in order for the leading end of the robot to assume a position and an orientation at the time of teaching even when the kinematic parameter has been updated after teaching of the operating program and when the drive axis is operated by executing the operating program using the present kinematic parameter,
the storage unit stores the kinematic parameter before updating, and
the drive unit calculates, based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter, as the amount of correction at at least one teaching point of the operating program taught before updating of the kinematic parameter, a difference between an angle of the drive axis at which the same position and orientation of the leading end of the robot as those at the time of teaching are realized by using the kinematic parameter before updating and an angle of the drive axis at which the same position and orientation of the leading end of the robot as those at the time of teaching are realized by using the present kinematic parameter; and if the amount of correction has an absolute value equal to or less than the particular threshold, position data of the at least one teaching point in the operating program is corrected, and if the amount of correction has an absolute value exceeding the particular threshold, a warning is displayed on the display unit.

6. A robot control method with which, when a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot is updated after teaching of an operating program, the position and orientation of the leading end of the robot at the time of teaching are still realized by executing the operating program using the present kinematic parameter to operate the drive axis, the method comprising:
a step of storing, by a processor, the kinematic parameter before updating; and
a step of correcting, by the processor, position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter;
wherein the step of correcting position data includes correction of position data of at least one teaching point of the operating program taught before updating of the kinematic parameter, the position data being corrected by using a difference between an angle of the drive axis at which the same position and orientation of the leading end of the robot as those at the time of teaching are realized by using the kinematic parameter before updating and an angle of the drive axis at which the same position and orientation of the leading end of the robot as those at the time of teaching are realized by using the present kinematic parameter.

7. A robot control method with which, when a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot is updated after teaching of an operating program, the position and orientation of the leading end of the robot at the time of teaching are still realized by executing the operating program using the present kinematic parameter to operate the drive axis, the method comprising:
a step of storing, by a processor, the kinematic parameter before updating;
a step of calculating, by the processor, based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter, as an amount of correction at at least one teaching point of the operating program taught before updating of the kinematic parameter, a difference between an angle of the drive axis at which the same position and orientation of the leading end of the robot as those at the time of teaching are realized by using the kinematic parameter before updating and an angle of the drive axis at which the same position and orientation of the leading end of the robot as those at the time of teaching are realized by using the present kinematic parameter; and if the amount of the correction has an absolute value equal to or less than a particular threshold,
a step of correcting, by the processor, a position data of the at least one teaching point in the operating program, and a step of warning if the amount of correction has an absolute value exceeding a particular threshold.

Assignees

• Fanuc Corp

Inventors

• Murata Yuusuke

Classifications

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• G05B2219/39029

  Verify if calibration position is a correct, by comparing with range in rom · CPC title

• G05B19/4083

  Adapting program, configuration · CPC title

• B25J9/0081 Primary

  with leader teach-in means · CPC title

• G05B2219/40387

  Modify without repeating teaching operation · CPC title