公开(公告)号：US20220072702A1

公开(公告)日：2022-03-10

申请号：US17531267

申请日：2021-11-19

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： HIROYOSHI UEDA ,  HIROYUKI NAKATA ,  ATSUMI HASHIMOTO ,  RYOSUKE YAMAMOTO ,  MASAYOSHI IWATANI

IPC: B25J9/16 ,  G05B19/19

Abstract: A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.

公开(公告)号：US20220168891A1

公开(公告)日：2022-06-02

申请号：US17674902

申请日：2022-02-18

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： MASAYOSHI IWATANI ,  HIROYUKI NAKATA ,  HIROYOSHI UEDA ,  ATSUMI HASHIMOTO ,  YASUYOSHI HONUCHI ,  RYOSUKE YAMAMOTO

IPC: B25J9/16

Abstract: When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.