CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM

Registre Brevet WIPO
Numéro d'application JP2020027953
Numéro de publication 2021/033471
Statut Délivré - en vigueur
Date de dépôt 2020-07-17
Date de publication 2021-02-25
Propriétaire OMRON CORPORATION (Japon)
Inventeur(s)
  • Okawa, Yohei
  • Hayashi, Kennosuke
  • Shibata, Yoshiya

Abrégé

Provided is a configuration for reducing the cost of generating or teaching the operation of a manipulator. A control device according to one aspect of the present invention sets the attention point of an end effector to a hand when the end effector is not holding a workpiece, and calculates the current value of the coordinates of the hand set from the current value of the angle of each joint, by the forward kinematics calculation using a group of first conversion formulas for the joints. Meanwhile, when the end effector is holding the workpiece, the control device sets the attention point of the workpiece to the hand, and calculates the current value of the coordinates of the hand set from the current value of the angle of each joint, by the forward kinematics calculation using a group of second conversion formulas obtained by multiplying the group of first conversion formulas by the second conversion formulas for converting a coordinate system from the end effector to the workpiece.

Classes IPC  ?

  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices