ROBOT DEVICE, METHOD FOR CONTROLLING ROBOT ARM, METHOD FOR MANUFACTURING ARTICLE, PROGRAM AND RECORDING MEDIUM

To improve quality of a work object.SOLUTION: A robot device controls a robot arm 200 to move an end effector 300 installed to the robot arm 200 in both a scanning direction X1 and a scanning direction X2 opposite the scanning direction X1. The robot device controls the robot arm 200 to make a postu...

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Bibliographic Details
Main Author IZUMI TOMOHIRO
Format Patent
LanguageEnglish
Japanese
Published 27.01.2022
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:To improve quality of a work object.SOLUTION: A robot device controls a robot arm 200 to move an end effector 300 installed to the robot arm 200 in both a scanning direction X1 and a scanning direction X2 opposite the scanning direction X1. The robot device controls the robot arm 200 to make a posture of the end effector 300 about a predetermined axis Ce when moving the end effector 300 in the scanning direction X1 different from a posture of the end effector 300 about the predetermined axis Ce when moving the end effector 300 in the scanning direction X2.SELECTED DRAWING: Figure 5 【課題】作業対象の品質を向上させる。【解決手段】ロボットアーム２００に設けられたエンドエフェクタ３００が走査方向Ｘ１と、走査方向Ｘ１とは反対の走査方向Ｘ２とに移動するようロボットアーム２００を制御する。エンドエフェクタ３００を走査方向Ｘ１に移動させる際の所定軸線Ｃｅまわりのエンドエフェクタ３００の姿勢と、エンドエフェクタ３００を走査方向Ｘ２に移動させる際の所定軸線Ｃｅまわりのエンドエフェクタ３００の姿勢とを異ならせるよう、ロボットアーム２００を制御する。【選択図】図５
Bibliography:Application Number: JP20200122227