US Patent No. 10,814,482


Patent No. 10,814,482
Issue Date October 27, 2020
Title Robot Controller
Inventorship Masakazu Ichinose, Yamanashi (JP)
Takahiro Okamoto, Yamanashi (JP)
Assignee Fanuc Corporation, Yamanashi (JP)

Claim of US Patent No. 10,814,482

1. A robot controller that controls an arm tip end portion of a robot to move at constant predetermined speed on the basis of a movement, path including an arc portion, the robot controller comprising:a centrifugal force calculation unit that calculates a centrifugal force acting on the arm tip end portion as time series data;
a transformation unit that performs Fourier transformation with respect to the time series data of the centrifugal force into frequency data; and
a speed determination unit that determines the predetermined speed such that a frequency component in a predetermined range including a natural vibration frequency of the robot is equal to or less than a threshold on the basis of the frequency data of the centrifugal force.