公开(公告)号：US11378936B2

公开(公告)日：2022-07-05

申请号：US16849168

申请日：2020-04-15

Applicant: FANUC CORPORATION

Inventor： Satoshi Inagaki ,  Hajime Suzuki

IPC: G05B19/4155 ,  H04B7/26

Abstract: A control device controls a mechanical device having a movable member driven by a motor. The control device includes a radio signal exchange unit that receives a sensor signal indicating a position, a velocity or an acceleration of a tip part of the movable member, a data acquisition unit that acquires first time-series data of acceleration based on the received sensor signal, a data calculation unit that calculates second time-series data of acceleration at the tip part based on a drive command to the motor, a delay time calculation unit that calculates, when the mechanical device performs a predetermined basic operation, a delay time of the first time-series data to the second time-series data, based on a degree of correlation between the first and second time-series data, and a time synchronization unit that synchronizes time of the sensor part and control device based on the delay time.

公开(公告)号：US10960549B2

公开(公告)日：2021-03-30

申请号：US16268114

申请日：2019-02-05

Applicant: Fanuc Corporation

Inventor： Satoshi Inagaki ,  Hajime Suzuki

IPC: B25J9/16 ,  B25J19/02 ,  G01H1/00

Abstract: A vibration analyzer includes a sensor that measures a vibration of an end effector supported by a distal end of a robot, a storage unit that stores a vibration calculation model of the robot, and a control unit configured to perform separation processing for separating a vibration to be reduced that is measured by the sensor into vibration data of the robot and vibration data of the end effector by using the vibration calculation model of the robot.

公开(公告)号：US10507581B2

公开(公告)日：2019-12-17

申请号：US16054180

申请日：2018-08-03

Applicant: FANUC CORPORATION

Inventor： Satoshi Inagaki ,  Wenjie Chen ,  Kaimeng Wang

IPC: B25J13/00 ,  B25J9/16 ,  B25J11/00 ,  B25J19/02 ,  B25J13/08

Abstract: A robot system includes: at least one non-learned robot that has not learned a learning compensation amount of position control based on an operation command; at least one learned robot that has learned the learning compensation amount of the position control based on the operation command; and a storage device that stores the operation command and the learning compensation amount of the learned robot, the non-learned robot comprising a compensation amount estimation unit that compensates the learning compensation amount of the learned robot stored in the storage device based on a difference between the operation command of the learned robot stored in the storage device and an operation command of an own robot, and estimates the compensated learning compensation amount as a learning compensation amount of the own robot.

公开(公告)号：US20240416524A1

公开(公告)日：2024-12-19

申请号：US18703538

申请日：2021-10-29

Applicant: Fanuc Corporation

Inventor： Satoshi Inagaki

IPC: B25J9/16

Abstract: Provided are a work assistance device and a work assistance method that automatically create a projected drawing suitable for designating a work region on a target, regardless of the skill level of a worker. The work assistance device has: a projected drawing creation function for projecting a work target, which has a work target surface that includes a work target region on which work is performed by a robot, in a direction perpendicular to the work target surface, thereby creating in a virtual space a projected drawing parallel to the work target surface; a work region designation function for designating a work target region in the projected drawing; and a work region conversion function for converting the location of the work target region designated in the projected drawing to a location in the virtual space.

公开(公告)号：US11230003B2

公开(公告)日：2022-01-25

申请号：US16445212

申请日：2019-06-19

Applicant: FANUC CORPORATION

Inventor： Satoshi Inagaki ,  Hajime Suzuki

IPC: B25J9/16 ,  G06F17/14

Abstract: A robot system includes: a learning control unit configured to perform learning for calculating a learning correction amount for bringing a position of a control target portion toward a target position; a robot control unit configured to control the operation of the robot mechanism unit; a power spectrum calculating unit configured to calculate a power spectrum of a vibration data of the control target portion; a comparison unit configured to compare each power spectrum between at the time of the current learning and at the time of the immediately preceding learning; and a learning correction amount updating unit configured to adjust at least one of a phase and a gain of the learning correction amount used at the time of the current learning to set the adjusted learning correction amount as a new learning correction amount used at the time of next learning.