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公开(公告)号：US20250033220A1
公开(公告)日：2025-01-30
申请号：US18713705
申请日：2021-12-20
Applicant: FANUC CORPORATION
Inventor： Nobuaki YAMAOKA
Abstract: A control device for a robot according to the present invention controls a drive motor for one specific drive shaft of the robot such that the torque output by a torque detector matches a torque setting value when rotation of a component member is inhibited by a rotation inhibiting unit. The control device acquires a rotational position output by a rotational position detector of the specific drive shaft once the torque matches the torque setting value. The control device generates mastering data in response to output by the rotational position detector on the basis of the rotational position of the drive motor output by the rotational position detector and predetermined mastering data design values.
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公开(公告)号：US20190061150A1
公开(公告)日：2019-02-28
申请号：US16102058
申请日：2018-08-13
Applicant: FANUC CORPORATION
Inventor： Nobuaki YAMAOKA , Hajime SUZUKI , Kaimeng WANG
Abstract: A robot system comprises: a light source; an image capture device; a robot mechanism unit having a target site of position control where the light source is provided; and a robot controller that controls the position of the robot mechanism unit based on a position command, a position feedback, and a position compensation value. The robot controller comprises: a path acquisition unit that makes the image capture device capture an image of light from the light source continuously during the predetermined operation to acquire a path of the light source from the image capture device; a positional error estimation unit that estimates positional error of the path of the light source from the position command based on the acquired path of the light source and the position command; and a compensation value generation unit that generates the position compensation value based on the estimated positional error.
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公开(公告)号：US20170106535A1
公开(公告)日：2017-04-20
申请号：US15281084
申请日：2016-09-30
Applicant: FANUC CORPORATION
Inventor： Nobuaki YAMAOKA , Wenjie CHEN , Kaimeng WANG
CPC classification number: B25J9/1651 , B25J9/1692 , B25J13/088 , B25J13/089 , G05B2219/39017 , G05B2219/39058
Abstract: A robot control device which controls a robot includes a sensor coordinate system calculation unit which calculates a position and an orientation of a sensor by making the robot perform a predetermined operation. The sensor coordinate system calculation unit comprises an operation parameter optimization unit which is configured to obtain a combination most suitable for calculating the position and orientation of the sensor, from a plurality of combinations of modified. values of a predetermined type of operation. parameters, by making the robot perform the predetermined operation, successively using each of the combinations.
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Patent Agency Ranking
公开(公告)号：US20180257239A1
公开(公告)日：2018-09-13
申请号：US15880844
申请日：2018-01-26
Applicant: Fanuc Corporation
Inventor： Kaimeng WANG , Nobuaki YAMAOKA , Hajime SUZUKI
CPC classification number: B25J13/006 , B25J9/1641 , B25J9/1694 , B25J13/088 , H04L1/08 , Y10S901/09
Abstract: Provided is a machine system including a machine including a movable part; a control device; a sensor detecting information about the movable part during a predetermined operation of the machine; a transmitting unit wirelessly transmitting the detected information during the predetermined operation; a receiving unit receiving the wirelessly transmitted information; a storage unit storing the received information; a detection unit detecting a loss in the received information; a command unit causing the machine to repeat the predetermined operation, in a case where a loss in the information is detected; a determination unit determining whether or not every lost part of the information detected first is contained in the information detected during the repeated operation; and an complementing unit ending the repeated operation in a case where every lost part is determined to be contained and complementing the information detected first with the information detected during the repeated operation.
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公开(公告)号：US20230278205A1
公开(公告)日：2023-09-07
申请号：US18004407
申请日：2021-07-26
Applicant: FANUC CORPORATION
Inventor： Nobuaki YAMAOKA , Takashi SATOU
IPC: B25J9/16
CPC classification number: B25J9/1633 , B25J9/1653
Abstract: The present invention makes it possible, in force control during production, to automatically adjust a force control parameter optimally so as not to cause oscillation of a robot or failure of work. This robot system comprises: a robot arm having a hand at the end thereof for holding a workpiece; a force detector for detecting a force and moment received by the workpiece held by the hand; and a control device for moving the workpiece held by the hand with respect to a target object while performing force control of the robot arm to correct a position error and an attitude error of the workpiece, on the basis of a predetermined force control parameter and a detected value of the force detector. The control device has a parameter automatic adjustment unit for automatically adjusting the force control parameter by executing the moving of the workpiece with respect to the target object a plurality of times. The parameter automatic adjustment unit automatically adjusts the force control parameter by executing the moving of the workpiece with respect to the target object from a plurality of attitude error directions among a plurality of position error directions and the plurality of attitude error directions.
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公开(公告)号：US20230083001A1
公开(公告)日：2023-03-16
申请号：US17798731
申请日：2021-02-15
Applicant: FANUC CORPORATION
Inventor： Nobuaki YAMAOKA , Yihua GU
Abstract: A deburring device includes a robot program creating unit that creates a program from data of an object, a deburring part detecting unit that detects a position for a deburring part on the object, and a robot program updating unit that updates the program by the detected position of the deburring part. The deburring device also includes a force control unit that controls to yield a predetermined pressing force, an actual path acquiring unit that acquires an actual path of a robot when controlled at the predetermined pressing force by the updated program, and a path correction parameter calculating unit that calculates a correction parameter for the position for the deburring part on the object from the path of the robot from the visual sensor and the actual path.
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公开(公告)号：US20200009742A1
公开(公告)日：2020-01-09
申请号：US16446633
申请日：2019-06-20
Applicant: FANUC CORPORATION
Inventor： Hajime SUZUKI , Nobuaki YAMAOKA , Kouichirou HAYASHI
Abstract: The automatic machine includes a movable member driven by a motor, a tool that is attached to the movable member and includes a movable mechanism that operates independently of the movable member, a sensor that is attached to the movable mechanism and measures a location of the movable mechanism, and a processor configured to detect, based on a location of the movable mechanism measured by the sensor when the motor is controlled in accordance with a command to move the tool to a target location and on an amount of movement of the movable mechanism from a reference point, detects a first location in a case in which the movable mechanism is virtually fixed to the reference point, and calculate a correction amount for a control amount of the motor in such a way as to decrease a difference between the target location and the first location.
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公开(公告)号：US20180207797A1
公开(公告)日：2018-07-26
申请号：US15860226
申请日：2018-01-02
Applicant: FANUC CORPORATION
Inventor： Nobuaki YAMAOKA , Hajime SUZUKI , Kaimeng WANG
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1694 , B25J9/1697 , Y10S901/02 , Y10S901/23 , Y10S901/46 , Y10S901/47
Abstract: A robot control system includes an operation control unit, a learning control processing unit and a storage unit. Whenever the operation control unit performs a single learning control, the learning control processing unit stores the number of learning controls, which indicates how many learning controls have been performed, and obtained time-series vibration data in correspondence with each other in the storage unit. The learning control processing unit calculates a convergence determination value to determine whether or not a vibration of a certain portion of a robot converges based on the time-series vibration data at each number of learning controls stored in the storage unit, and determines the number of learning controls having a minimum convergence determination value, out of the calculated convergence determination values, as the optimal number of learning controls.
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