摘要
由一名新闻记者兼机器人与机器学习每日新闻的新闻编辑根据NewsRx记者从华盛顿特区发回的新闻报道，宫崎英夫（Yamanashi，JP）2021年6月8日提交的专利申请于2024年6月6日在网上公布。本专利申请没有受让人。记者从本发明人提供的背景资料中得到以下引述：“已知机器人对由输送装置输送的物品进行加工的生产系统，该生产系统包括输送物品的输送装置、对由输送装置输送的物品进行加工的机器人、以及移动机器人的移动装置。在生产系统中，重要的是保持位置关系，使机器人能够适当地在工件上进行工作。例如，在使机器人具有移动轴线的跟踪控制方法中，移动轴线包括机器人本体和使机器人BODY沿预定方向移动的移动轴线，为了跟踪连续的直线，有k种具有移动轴线的机器人的跟踪控制方法，其中将直线的移动速度分成单位时间，以计算每单位时间的平均速度，控制具有移动轴线的机器人的移动轴线以每单位时间的平均速度进行跟踪移动，并且通过控制机器人本体的关节轴(例如，参见PTL 1)，将由此产生的行走轴与直线之间的T形倾斜误差作为在行走轴方向上的机器人误差进行校正。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-According to news reporting originatin g from Washington, D.C., by NewsRx journalists, a patent application by the inve ntor MIYAZAKI, Wataru (Yamanashi, JP), filed on June 8, 2021, was made available online on June 6, 2024. No assignee for this patent application has been made. Reporters obtained the following quote from the background information supplied by the inventors: "There is known a production system in which a robot performs a work on an article conveyed by a conveyance device. The production system incl udes the conveyance device that conveys an article, the robot that performs a wo rk on the article conveyed by the conveyance device, and a movement device that moves the robot. In the production system, it is important to maintain a positio nal relationship whereby the robot can appropriately perform a work on the artic le. "For example, in a tracking control method for causing a robot with a traveling axis, which includes a robot body and a traveling axis for causing the robot bod y to travel in a predetermined direction, to track a continuous line, there is k nown a tracking control method of a robot with a traveling axis in which a trave l speed of the line is divided into unit times to calculate an average speed per unit time, the traveling axis of the robot with a traveling axis is controlled to perform tracking travel at the average speed per unit time, and a resulting t racking error between the traveling axis and the line is corrected as a robot er ror in a direction of the traveling axis by controlling joint axes of the robot body (for example, see PTL 1).
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