发明授权
- 专利标题： Robot controller and robot control method
- 专利标题（中）： 机器人控制器和机器人控制方法
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申请号： US11294441申请日： 2005-12-06
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公开(公告)号： US07925382B2公开(公告)日： 2011-04-12
- 发明人: Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
- 申请人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
- 申请人地址： JP Kobe
- 专利权人： Kawasaki Jukogyo Kabushiki Kaisha
- 当前专利权人： Kawasaki Jukogyo Kabushiki Kaisha
- 当前专利权人地址： JP Kobe
- 代理机构： Oliff & Berridge, PLC
- 优先权： JP2004-355954 20041208
- 主分类号： G05B19/404
- IPC分类号： G05B19/404
摘要：
An input unit enters angular displacements by which drive shafts of a robot arm are to be turned as teaching data into a control unit. The control unit converts the input angular displacements into position-attitude data, namely, converted commands, indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system through forward conversion. The control unit corrects the position-attitude data on the basis of inherent errors in the robot to provide corrected position-attitude data. The control unit converts the corrected position-attitude data into corrected angular displacements through inverse conversion and gives the corrected angular displacements to an actuator included in the robot. The inherent errors in the robot include mechanismic errors resulting from machining errors and assembling errors, installation errors and errors in the origins of axes.
公开/授权文献
- US20060136094A1 Robot controller and robot control method 公开/授权日：2006-06-22
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