公开(公告)号：US20170090431A1

公开(公告)日：2017-03-30

申请号：US15126881

申请日：2015-03-26

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： TAKAMICHI KOMATSU ,  KAZUMASA YOSHIMA ,  TATSUYA IKEDA

IPC: G05B13/02 ,  G05B19/406 ,  B23K9/127

CPC classification number: G05B13/0265 ,  B23K9/1274 ,  B25J9/1684 ,  G05B19/406 ,  G05B2219/36415 ,  G05B2219/36433 ,  G05B2219/40385 ,  G05B2219/45135 ,  G05B2219/4701 ,  G05B2219/4705 ,  G05B2219/4719

Abstract: A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.