Industrial robot having selective teaching modes

Details Industrial robot having selective teaching modes Industrial robot having selective teaching modes

1986-05-29

1988-08-16

Smith, Jerry

Boots, shoes, and leggings

901 3, 364191, G06F 1546

Patent

active

047648830

ABSTRACT:
For operating an industrial robot, first, second and third flags are selectively generated as an indication of first, second and third teaching modes, respectively. A position signal representative of the path to be traced by the robot arm is sampled at a higher rate in response to the first flag to produce a first train of samples or at a lower sampling rate in response to the second and third flags to produce a second train of samples. A sample between successive samples of the second train is interpolated when the second flag is generated and combined with the samples of the second train. When the third flag is generated, a sample between successive samples of the second train is approximated. The robot arm is controlled in accordance with the first train of samples in the presence of the first flag or in accordance with the combined samples or approximated samples in the presence of the second and third flags. The first teaching mode is selected when the path to be traced contains many bends and curves and the second and third teaching modes are selected for causing the robot arm to trace a relatively smooth path without being adversely affected by operator's hand vibrations.

REFERENCES:
patent: Re30132 (1979-10-01), Irie
patent: 3943343 (1976-03-01), Irie
patent: 4263538 (1981-04-01), Richiardi
patent: 4347578 (1982-08-01), Inaba
patent: 4511985 (1985-04-01), Inaba et al.
patent: 4604716 (1986-08-01), Kato et al.
patent: 4617502 (1986-10-01), Sakaue et al.

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