公开(公告)号：US10520912B2

公开(公告)日：2019-12-31

申请号：US15815893

申请日：2017-11-17

Applicant: FANUC CORPORATION

Inventor： Kaimeng Wang ,  Shuusuke Watanabe

IPC: G05B19/425 ,  G05B19/19 ,  B25J9/16 ,  G05B13/04 ,  B25J13/06

Abstract: A robot controller having a function that simplifies learning and a robot control method. The robot controller includes: a learning section configured to carry out learning of detecting a deviation between a commanded trajectory representing a position of the robot generated according to the command values and an operation trajectory representing an actual position where the robot has moved, and generate a corrected program by adjusting the commanded trajectory; a saving section configured to save the corrected program; and a relearning section configured to carry out relearning on a relearning location, the relearning location being a part of the operation trajectory designated by an operator.

公开(公告)号：US11407104B2

公开(公告)日：2022-08-09

申请号：US16504334

申请日：2019-07-08

Applicant: FANUC Corporation

Inventor： Shuusuke Watanabe ,  Shinji Mizokami

IPC: B25J9/16 ,  G05B19/19

Abstract: A tooth contact position adjustment amount estimation device that performs processing with respect to estimating a tooth contact position adjustment amount for dimensional data of parts constituting a power transmission mechanism according to the present invention, comprising: a machine learning device that performs processing with respect to estimating the tooth contact position adjustment amount for the dimensional data of parts constituting the power transmission mechanism, wherein the machine learning device observes part dimensional data, which is the dimensional data of parts constituting the power transmission mechanism, as a state variable indicating a current state of an environment, and performs processing with respect to estimating the tooth contact position adjustment amount for the dimensional data of parts constituting the power transmission mechanism in assembling the power transmission mechanism by performing processing with respect to machine learning based on the observed state variable.

公开(公告)号：US11338440B2

公开(公告)日：2022-05-24

申请号：US16517999

申请日：2019-07-22

Applicant: Fanuc Corporation

Inventor： Hajime Suzuki ,  Shuusuke Watanabe

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  B25J15/00

Abstract: This robot system includes a robot, a tool which is attached to the robot, an imaging device, and a controller which controls the robot and the tool, and the controller is configured so that a distal end portion of the robot is placed at a plurality of calibration positions, the tool is operated at each of the calibration positions, images of light irradiated to an object or a trace left on the object due to tool operation processing are captured by the imaging device, and calibration is performed based on comparison between irradiation positions of the light or positions of the traces, which are in an image captured by the imaging device, and predetermined reference positions.

公开(公告)号：US10994422B2

公开(公告)日：2021-05-04

申请号：US16201550

申请日：2018-11-27

Applicant: FANUC CORPORATION

Inventor： Hajime Suzuki ,  Shuusuke Watanabe ,  Kaimeng Wang

IPC: B25J13/06 ,  G05B19/4097 ,  B25J9/16

Abstract: A robot system that performs desired processing on a processing target object using a processing tool. The robot system includes a robot having an arm tip that holds the processing tool, a position detector that detects a position of the arm tip, and a robot controller that controls an operation of the robot based on a position command and a position feedback detected by the position detector. The robot controller includes an adjustment operation creating unit that, during adjustment of operation parameters for controlling the operation of the robot, acquires an application and an operation area of the robot and automatically creates an adjustment operation corresponding to the acquired application and the operation area and a parameter adjustment unit that automatically adjusts the operation parameters during execution of the adjustment operation created by the adjustment operation creating unit so that a performance required for the application is satisfied.