发明授权
- 专利标题： Robot controller inhibiting shaking of tool tip in robot equipped with travel axis
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申请号： US15227146申请日： 2016-08-03
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公开(公告)号： US09827673B2公开(公告)日： 2017-11-28
- 发明人: Tsuyoshi Hannya
- 申请人： FANUC CORPORATION
- 申请人地址： JP Yamanashi
- 专利权人： FANUC CORPORATION
- 当前专利权人： FANUC CORPORATION
- 当前专利权人地址： JP Yamanashi
- 代理机构： Hauptman Ham, LLP
- 优先权： JP2015-158373 20150810
- 主分类号： B25J9/16
- IPC分类号： B25J9/16
摘要：
A robot controller able to suppress shaking of a tool tip of a robot due to operation of a travel axis. The robot controller includes a movement calculating part calculating an amount of movement of the travel axis and an amount of movement of the tool tip each time the travel axis operates in accordance with a command and a correcting part correcting a command value so that at least one command value of a speed and acceleration to the travel axis becomes smaller when the amount of movement of the travel axis is larger than a predetermined first threshold value and the amount of movement of the tool tip is smaller than a predetermined second threshold value.
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