Transport robots

Abstract

[Problem] In a handling robot, a simpler configuration is needed to appropriately compensate for the rotation angle of the motor driving the arm, depending on the weight of the object being handled. [Solution] Compensation information is stored, which is the compensation value for the rotation angle of the motor that drives the arm of the handling robot when the weight of the object being handled is either a reference weight (Ma, Mb). In the angle compensation process (S102) for compensating the target rotation angle of the arm, if the weight of the object being handled is a handling weight (M) that is different from both the reference weight (Ma, Mb) (S201: NO), a compensation value calculation process (S203) is performed. Based on the compensation information when the weight of the object being handled is the reference weight (Ma) and the compensation information when the weight of the object being handled is the reference weight (Mb), a linear interpolation is performed on the relationship between the weight of the object being handled and the compensation value to calculate the compensation value when the weight of the object being handled is the handling weight (M). The calculated compensation value is used to compensate for the rotation angle of the motor (S204).

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