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Robot controller

A technology of control devices and robots, applied in the direction of program control, comprehensive factory control, general control system, etc., can solve problems such as difficult to repeat learning

Active Publication Date: 2015-09-09
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, there is a problem that it is difficult to repeatedly learn the motion of an arbitrary position / posture in an operation in which the position / posture of the robot gradually changes due to the state of the workpiece, etc.

Method used

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Embodiment Construction

[0020] figure 1 It is a figure which shows an example of the internal structure of the robot control apparatus 10 which concerns on a preferable embodiment of this invention. The control device 10 has a main CPU 12; a memory 14 including a read-only memory (ROM), a volatile memory, and a nonvolatile memory; and an interface (I / F) 16 for a teaching pendant, which are connected to each other in parallel via a bus 18 . A teaching pendant 20 is connected to the interface 16 , and the operator can use the teaching pendant 20 to create an operation program, input a work area, and the like. Processes such as extraction of a reference motion pattern, generation of motion patterns, and motion learning are executed by the main CPU 12 .

[0021] In addition, the robot control device of the present invention controls a robot that operates by correcting its own position and posture in a predetermined work area, and includes: a storage unit for storing a standard motion of the robot; An...

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Abstract

A robot controller capable of easily speeding up the motion of a robot by learning, without using a special device and teaching know-how. The robot controller has a storing part which stores a reference motion pattern of the robot; an inputting part which designates at least one of a working start region where a motion of the robot based on the reference motion pattern is initiated and a working end region where the motion of the robot is terminated; an automatic generating part which automatically generates a plurality of motion patterns of the robot based on the reference motion pattern and divided regions formed by dividing a working region at a predetermined resolution; and a learning control part which learns a motion speed-up ratio for speeding up the motion by changing a velocity or acceleration in relation to each of the automatically generated motion patterns.

Description

technical field [0001] The present invention relates to a robot control device for controlling a robot, and more particularly to a robot control device having a function of simplifying the teaching operation of the robot and improving the performance of the robot through learning. Background technique [0002] At the actual production site where the system consisting of robots and peripheral equipment is installed, the target cycle time for the production line including the system is set. When the teaching operator works hard on the composition of the teaching program to obtain the target cycle time, or when teaching easy-to-move postures, the teaching operation is performed by trial and error while using the operator's experience and skills. In this case, there is a problem that the improvement of the operating speed is often dependent on the skill of the operator, and the work efficiency is poor and time-consuming. [0003] In order to solve this problem, for example, Jap...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCG05B2219/39295G05B2219/43203G05B2219/39298B25J9/163B25J9/1602B25J13/00B25J9/1664G05B2219/37555G05B2219/39357G05B2219/40395G05B2219/40454Y02P90/02
Inventor 铃木元鹫头伸一明-雷恩·琼
Owner FANUC LTD
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