Boots – shoes – and leggings
Patent
1987-10-28
1990-04-24
Ruggiero, Joseph
Boots, shoes, and leggings
31856813, 31856819, 364193, 901 3, G06F 1546, G05B 1942
Patent
active
049205005
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention is related to a method and a robot installation for programmed control of a working tool to perform processing operations on an object by means of a servo-actuated robot arm system.
2. Related Art
When such arm system not merely is to take care of the required tool movements with respect to the object, but also to bring and maintain the working tool and its motive means at all times in appropriate position with respect to the object in question, which possibly also may be in motion, it may in practice often be necessary or suitable to utilize a robot arm system having more than six degrees of freedom.
It is trivial to find the position of a tool from its axis coordinates in a given coordinate system, even in case the tool is moved by means of an arm system having more than six degrees of freedom. With such high number of degrees of freedom an over-determinate equation system is however necessary, if the corresponding coordinates for the various motional axes of the arm system are to be determined on the basis of the position of the tool. With programming and operation of a robot having such an arm system. it is consequently necessary to use unconventional methods for deriving and storing the necessary positional and motional data for the working tool and the various parts of the robot arm system.
SUMMARY OF THE INVENTION
Thus, it is an object of the invention to arrive at a method for programmed control of a working tool to perform processing operations on an object by means of a movable servo-actuated robot arm system having more than six degrees of freedom and on the basis of preprogrammed tool path data stored in a data memory. This is achieved according to the invention by the features that the stored tool path data are derived in an outer coordinate system without physical connection with the robot arm system, which for coordinate transformation to an inner referance coordinate system associated with the robot arm system is considered subdivided into system parts which are movable with respect to each other and each having at most six degrees of freedom, the positional data for each system part, apart from one system part which is connected with the inner reference coordinate system, being derived and stored in the memory in addition to the programmed tool path data, and utilized, possibly together with directly sensor-derived information as to the positional relation between said inner and outer coordinate systems, as coordinate transformation data for appropriately correlating the programmed control of the working tool on the basis of the stored tool path data in the outer coordinate system at all times with the inner reference coordinate system associated with the robot arm system.
Said tool path data and coordinate transformation data are suitably derived in principally known manner by manual control of the working tool and the robot arm system during the programmation. Such control may take place by continuous manual guidance along the intended motional paths with a passive servo system or by manually controlled positional adjustments point by point of said servo system along said motional paths.
In this case the programing is performed according to the invention in the manner that each system part, apart from the system part connected with the inner reference coordinate system, for the derivation and storage of its positional data during the manual control at all times is individually placed in such positional relation to the outer coordinate system that the working tool may be guided to performing its intended processing operations by means of said system part which is connected with the inner reference coordinate system, and thus deriving said tool path data in the outer coordinate system and coordinate transformed from said inner reference coordinate system.
For reproduction of the manually programmed movements of the working tool and the robot arm system the positional data stored in the memory during the perform
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patent: 3920972 (1975-11-01), Corwin, Jr. et al.
patent: 4178632 (1979-12-01), Anthony
patent: 4604716 (1986-08-01), Kato et al.
patent: 4612487 (1986-09-01), Shimomura
patent: 4613943 (1986-09-01), Miyake et al.
Hetland Amund
Hoie Odd T.
Ruggiero Joseph
Trallfa Robot A/S
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