Robot motion planning
US-2020338733-A1 · Oct 29, 2020 · US
Robot control apparatus and robot control system
US11498209B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11498209-B2 |
| Application number | US-202016946354-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jun 18, 2020 |
| Priority date | Jun 18, 2019 |
| Publication date | Nov 15, 2022 |
| Grant date | Nov 15, 2022 |
How to read this patent
A practical reading order for non-experts. Skip the full description unless you need deep technical detail.
- Title
What the patent document calls the invention.
- Abstract
A short plain-language summary of the technical disclosure.
- Assignees and inventors
Who owns or filed the patent and who is credited as inventor.
- Key dates
Filing, priority, publication, and grant dates set the timeline.
- First independent claim
The legal scope of protection — read this for what is actually claimed.
- CPC / IPC classifications
Technology tags used to group this patent with similar filings.
- Citations and related patents
Prior art links and similar publications in this corpus.
Abstract
Official abstract text for this publication.
A robot control apparatus for a more precise seam tracking operation, includes: a storage unit in which teaching data is stored; an accepting unit that accepts a sensing result of a laser sensor, from a robot including a working tool and the laser sensor attached to the working tool and configured to detect a shape of a working target before an operation of the working tool; and a control unit that moves the working tool based on the teaching data, corrects the movement of the working tool based on the sensing result, and adjusts an angle about a tool axis such that an operation point indicated by the sensing result is at a center of a field of view of the laser sensor. Accordingly, an operation line can be detected near the center of the field of view of the laser sensor, and thus more precise detection is possible.
First claim
Opening claim text (preview).
What is claimed is: 1. A robot control apparatus comprising: a storage unit in which teaching data is stored; an accepting unit that accepts a sensing result of a laser sensor, from a robot including a working tool and the laser sensor attached to the working tool and configured to detect a shape of a working target before an operation of the working tool, wherein an angle about a tool axis of the working tool can be adjusted; and a control unit that moves the working tool based on the teaching data, corrects the movement of the working tool based on the sensing result, and adjusts the angle about the tool axis such that an operation point indicated by the sensing result is at a center of a field of view of the laser sensor. 2. The robot control apparatus according to claim 1 , wherein the control unit performs feedback control containing an integral action such that the operation point indicated by the sensing result is at the center of the field of view of the laser sensor. 3. The robot control apparatus according to claim 2 , wherein the feedback control is PID control. 4. The robot control apparatus according to claim 1 , wherein, when adjusting the angle about the tool axis, the control unit adjusts the angle within a range up to a preset upper limit. 5. A robot control system comprising: a robot control apparatus; comprising: a storage unit in which teaching data is stored, an accepting unit that accepts a sensing result of a laser sensor, from a robot including a working tool and the laser sensor attached to the working tool, and configured to detect a shape of a working target before an operation of the working tool, wherein an angle about a tool axis of the working tool can be adjusted, and a control unit that moves the working tool based on the teaching data, corrects the movement of the working tool based on the sensing result, and adjusts the angle about the tool axis such that an operation point indicated by the sensing result is at a center of a field of view of the laser sensor; and the robot that is controlled by the robot control apparatus.
Assignees
Inventors
Classifications
Vision controlled systems · CPC title
using computing means · CPC title
Electric supply or control circuits therefor · CPC title
Tracking a line or surface by means of sensors · CPC title
making use of shielding gas · CPC title
Patent family
Related publications grouped by family.
External sources
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US11498209B2 cover?
- A robot control apparatus for a more precise seam tracking operation, includes: a storage unit in which teaching data is stored; an accepting unit that accepts a sensing result of a laser sensor, from a robot including a working tool and the laser sensor attached to the working tool and configured to detect a shape of a working target before an operation of the working tool; and a control unit …
- Who is the assignee on this patent?
- Daihen Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1602. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Nov 15 2022 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 3 related publications on this page (citations in our corpus or others sharing the same primary CPC).