Title:
ROBOT CONTROL DEVICE, CONTROL METHOD, AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2024/084665
Kind Code:
A1
Abstract:
Provided are a control device, a control method, and a system that comprise a function for preventing machining precision from deteriorating due to foreign matter sandwiched between a workpiece and a fixing mechanism. This control device controls a robot that is configured to supply a held workpiece to a fixing mechanism and that has a force detection unit for detecting force and moment applied to the workpiece, the control device comprising: a function for performing a force control to correct the position of the workpiece relative to the fixing mechanism while the robot supplies the workpiece to the fixing mechanism, and then correct the orientation of the workpiece relative to the fixing mechanism; and a function for determining that foreign matter is wedged between the workpiece and the fixing mechanism if, during correction of the position of the workpiece, the force detection unit detects that the moment acting in the direction in which the orientation of the workpiece is corrected exceeds a first threshold value.
Inventors:
ISHII YUKI (JP)
Application Number:
PCT/JP2022/039158
Publication Date:
April 25, 2024
Filing Date:
October 20, 2022
Export Citation:
Assignee:
FANUC CORP (JP)
International Classes:
B25J9/16
Attorney, Agent or Firm:
AOKI, Atsushi et al. (JP)
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