Robot control device

Abstract

A robot control device includes: a creep-information storage unit that stores an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation; a mastering-data storage unit that stores mastering data of the robot; a timer that measures the cumulative time; and a correction unit that corrects the mastering data stored in the mastering-data storage unit based on the amount of bending stored in the creep-information storage unit in correspondence with the cumulative time measured by the timer.

1 . A robot control device comprising:
 a creep-information storage configured to store, in advance, an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation;   a mastering-data storage configured to store mastering data of the robot, the mastering data being a value of an encoder of each axis of the robot when the robot is disposed at an origin position;   a timer configured to measure the cumulative time, wherein the timer is activated when the robot is installed and the cumulative time is an elapsed time from the installation;   a processor comprising hardware; and   a parameter storage configured to store a mechanical parameter of the robot, wherein the processor is configured to correct at least one of the mastering data stored in the mastering-data storage and the mechanical parameter stored in the parameter storage based on the amount of bending stored in the creep-information storage in correspondence with the cumulative time measured by the timer.   
     
     
         2 . A robot control device comprising:
 a creep-information storage configured to store, in advance, an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation;   a parameter storage configured to store a mechanical parameter of the robot;   a timer configured to measure the cumulative time, wherein the timer is activated when the robot is installed and the cumulative time is an elapsed time from the installation; and   a processor comprising hardware, wherein the processor is configured to correct the mechanical parameter stored in the parameter storage based on the amount of bending stored in the creep-information storage in correspondence with the cumulative time measured by the timer.   
     
     
         3 . The robot control device of  claim 1 , wherein the mechanical parameter includes a distance between each arm of the robot. 
     
     
         4 . The robot control device of  claim 1 , wherein the mechanical parameter includes an angle between each arm of the robot. 
     
     
         5 . The robot control device of  claim 1 , wherein the mechanical parameter includes a helix angle of each arm of the robot. 
     
     
         6 . The robot control device of  claim 1 , wherein the mechanical parameter is corrected using a length of a second arm of the robot after creep deformation. 
     
     
         7 . The robot control device of  claim 1 , wherein the mechanical parameter is corrected using an offset amount of a second arm of the robot after creep deformation. 
     
     
         8 . The robot control device of  claim 2 , wherein the mechanical parameter includes a distance between each arm of the robot. 
     
     
         9 . The robot control device of  claim 2 , wherein the mechanical parameter includes an angle between each arm of the robot. 
     
     
         10 . The robot control device of  claim 2 , wherein the mechanical parameter includes a helix angle of each arm of the robot. 
     
     
         11 . The robot control device of  claim 2 , wherein the mechanical parameter is corrected using a length of a second arm of the robot after creep deformation. 
     
     
         12 . The robot control device of  claim 2 , wherein the mechanical parameter is corrected using an offset amount of a second arm of the robot after creep deformation.