Robot controller having function for displaying robot and force

Patent metadata

Field	Value
Publication number	US-2016354933-A1
Application number	US-201615175039-A
Country	US
Kind code	A1
Filing date	Jun 7, 2016
Priority date	Jun 8, 2015
Publication date	Dec 8, 2016
Grant date	—

Abstract

A robot controller, by which an operator can visually or intuitively understand the direction and/or magnitude of an actual force applied to an arbitrary portion of a workpiece. The controller controls a motion of a robot so that one of a work tool and a workpiece is moved relative to the other, and carries out a predetermined operation. The controller has a force detecting part which detects a force acting between the work tool and the workpiece; and a displaying part which displays a simulated image or video of the robot. The displaying part displays a trajectory of working points on the workpiece, and the force detecting part detects the force applied to each working point when the work tool passes through the working point. The displaying part displays the detected force as a line segment, etc., extending from the working point or a point near the working point.

First claim

1 . A robot controller which controls a motion of a robot so that one of a work tool and a workpiece to be processed by the work tool is moved relative to the other, and carries out a predetermined operation, the robot controller comprising:
a force detecting part which detects a force acting between the work tool and the workpiece; and a displaying part which displays a simulated image or video of the robot, wherein the displaying part displays a trajectory of working points on a surface of the workpiece, the force by the work tool being applied to the working point, wherein the force detecting part detects the force applied to each working point when the work tool passes through the working point on the trajectory, and wherein the displaying part displays the detected force as a line segment or a line segment-like shape, an origin of which corresponding to the working point or a point in the vicinity of the working point.

2 . The robot controller as set forth in claim 1 , wherein the displaying part displays a coordinate system for representing a position of the robot, and displays the force detected by the force detecting part as a vector on the coordinate system.

3 . The robot controller as set forth in claim 1 , wherein the displaying part displays an orthogonal coordinate system, constituted by X-, Y- and Z-axes, for representing a position of the robot, and displays a line segment or vector in a predetermined direction, with respect to only one or more factor selected from among X-, Y- and Z-components of the force or a magnitude of the force, detected by the force detecting part.

4 . The robot controller as set forth in claim 1 , wherein the displaying part displays the line segment or the line segment-like shape while changing a color thereof, based on a magnitude of the force.

5 . The robot controller as set forth in claim 1 , wherein, when a magnitude of the force satisfies a predetermined condition, the displaying part displays the line segment or the line segment-like shape representing the force, while blinking the line segment or the line segment-like shape, or while indicating a mark in the vicinity of the line segment or the line segment-like shape.

Assignees

• Fanuc Corp

Inventors

• Sato Takashi

Classifications

• B25J13/085 Primary

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• G05B2219/37091

  Motion and force · CPC title

• G05B2219/37086

  Display real, measured machining load · CPC title

• G05B2219/37076

  Display load on tool, motor graphically on screen · CPC title

• G05B2219/35327

  Display tool locus together with correlated machining parameter, load motor · CPC title