Patent ID: 11890759
Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A robot control method for operating an arm of a robot including a plurality of joint portions in accordance with a predetermined operation program, the method comprising:
inputting load information on a load to be attached to the arm and collision sensitivity indicating a threshold value for detection of a collision of the arm:
comparing load information set in advance at the time of creation of the operation program with load information newly input before execution of the op eration program; and, modifying the operation program if a difference between the load information set and the load information input is larger than a predetermined threshold value:
calculating by a processor gravitational torque to be applied to the joint portion based on the load information;
calculating by the processor a deflection amount of the arm based on the gravitational torque;
calculating by the processor a correction amount for correcting the deflection amount based on the collision sensitivity; and
correcting the deflection amount based on the correction amount.