Mobile robot
US-9440355-B2 · Sep 13, 2016 · US
Control unit, control method, and control program of articulated robot
US9199374B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9199374-B2 |
| Application number | US-201214003449-A |
| Country | US |
| Kind code | B2 |
| Filing date | Mar 2, 2012 |
| Priority date | Mar 8, 2011 |
| Publication date | Dec 1, 2015 |
| Grant date | Dec 1, 2015 |
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Abstract
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In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teaching path, the posture and the angles in each axis is provided, wherein a judgment is made as to whether the velocity of the wrist shaft exceeds a permissible limit, and if the permissible limit is exceeded, a plurality of candidates for angle of the wrist shaft that maintain the velocity within permissible limits are calculated, and the candidate with the minimum fluctuation in the specific component of the posture angle of the weld line coordinate system is selected.
First claim
Opening claim text (preview).
The invention claimed is: 1. A control unit of an articulated robot for controlling the articulated robot, the articulated robot including a first articulated drive system having a working part that moves along a working line of a workpiece on a top end thereof and three drive shafts that are connected to the working part and that change the attitude of the working part and a second articulated drive system having at least three drive shafts that are connected to the first articula…
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Physics · mapped topic
Physics · mapped topic
- B25J9/10Primary
Operations & Transport · mapped topic
Cross-Sectional Technologies · mapped topic
Physics · mapped topic
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Frequently asked questions
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- What does patent US9199374B2 cover?
- In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teachi…
- Who is the assignee on this patent?
- One Tsutomu, Nishimura Toshihiko, Kobe Steel Ltd
- What technology area does this patent fall under?
- Primary CPC classification B25J9/10. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Dec 01 2015 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 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).