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Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component

  • US 10,486,309 B2
  • Filed: 07/31/2017
  • Issued: 11/26/2019
  • Est. Priority Date: 06/11/2014
  • Status: Active Grant
First Claim
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1. A robot apparatus comprising:

  • an articulated robot including a plurality of joints;

    a vibration measuring apparatus configured to measure vibrations of a predetermined portion of the articulated robot, wherein the vibration measuring apparatus and a detector are disposed at each of the plurality of joints; and

    a controller configured to control an operation of the articulated robot, wherein, to control an operation of the articulated robot, the controller executes;

    moving the articulated robot and subsequently stopping the articulated robot at a target position,causing the vibration measuring apparatus to calculate vibrations by using positional information about a joint to be obtained by the detector disposed at each of the plurality of joints after stopping the articulated robot,obtaining, after stopping the articulated robot at the target position, a time until the vibrations converge, andtransmitting the obtained time to a storage unit.

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