Patent ID: 9296103
Filing Date: 2016-03-29
CPC Classification: B25J,G05B

Claim Text:
1. A control device for a robot, the robot comprising a tool for holding a workpiece, and a force measuring part for measuring a force acting on the tool from the workpiece when the workpiece is held by the tool, the robot being adapted to hold and convey the workpiece placed in a three-dimensional space, the control device comprising: a center-of-gravity position calculating part configured to calculate, based on force data measured by the force measuring part for a plurality of postures of the robot holding the workpiece, a center-of-gravity position of the workpiece held by the tool when the robot holds and conveys the workpiece; a processing part configured to carry out, based on a positional relationship between a position of the tool and the center-of-gravity position of the workpiece, at least one of an operating command modifying part