Robot-position detecting device and robot system

摘要

A robot-position detecting device includes: a position-data acquiring unit that acquires position data indicating actual positions of a robot; a position-data input unit that receives the position data output from the position-data acquiring unit; and a position calculating unit that calculates a computational position of the robot through linear interpolation using first and second position data input to the position-data input unit at different times.

主权项

1. A robot-position detecting device comprising:
a position-data acquiring unit that acquires position data indicating actual positions of a robot; a position-data input unit that receives the position data output from the position-data acquiring unit; and a position calculating unit that calculates a computational position of the robot through linear interpolation using first and second position data input to the position-data input unit at different times, wherein the position-data acquiring unit is an encoder provided in the robot; the position calculating unit receives a command for detecting a position of the robot and calculates the computational position of the robot; the first position data is data acquired at a timing earlier than the command; the second position data is data acquired at a timing later than the command; and the position calculating unit includes a command detecting unit that detects the command at a period Ts shorter than a predetermined period T for acquiring the position data input to the position-data input unit from one encoder.