The robot and point welding robot with learning control function

摘要

Robot (100), comprising a robot mechanism unit (1) which contains a sensor (10) in a part whose position is regulated, and a control unit (2), the operation of the robot mechanism unit (1) in a controlled manner,wherein the control unit (2) comprises:a normally - control unit (4), the operation of the robot mechanism unit (1) in a controlled manner;a learn - control unit (3), which, when the robot mechanism unit (1) is operated with a speed command by multiplying a lehr speed, which is referred to in a task, connected with a speed change ratio is given, is made of one of the sensor (10) detected result of a learn correction size, the one trajectory or position of a control target of the robot mechanism unit (1) to a target trajectory or target position which the normal - control unit (4) is assigned, or a learn correction size, which the vibrations of the control target is reduced, which in the case of actuation of the robot mechanism unit (1) are generated; anda teaching - control unit (50), the a position or the speed in the task teaches or corrected,the procedures and so that the control target position of the robot mechanism unit (1) is moved on a fixed trajectory, and independently of the speed change ratio of the connection,the normal - control unit (4) the robot mechanism unit (1) operates with a position command, which is based on the axle position, which is set in task, on the learn correction size, which the learn - control unit (3) is calculated, and on the speed command, which is given by multiplying the task set in the lehr speed of the connection with the speed change ratio, which is in the calculation of the learn correction value is used, and the after the calculation of the learn correction size by means of the learn - control unit (3), when the lehr - control unit (50) the position of a teaching point corrected, if a distance between the position of the teaching point according to the position correction and the position of the teaching point in front of the position correction is greater than or equal to a predetermined distance, the movement to the teaching point with the lehr speed can be controlled, and, if the distance is smaller than the predetermined limit value, the movement to the teaching point in a controlled manner with the speed command.