Method and means for controlling an industrial robot

Details Method and means for controlling an industrial robot Method and means for controlling an industrial robot

1977-08-09

1979-09-04

Husar, Francis S.

Material or article handling

Load carried along a horizontal linear path

Carried via magnetic floating

414744, 414786, 318601, 318603, B25J 900

Patent

active

041665430

ABSTRACT:
Robot control with programmed positioning modified by a sensor sensing position error, force or the like. To maintain flexibility, the sensor axis need not coincide with any of several degrees of freedom of the robot. To employ sensor generated signals to modify programmed positioning where sensor and robot degrees of freedom are different, a normalized correction is computed relating a sensor output to each axis of freedom. Merely multiplying sensor output with the appropriate normalized correction provides a quantity in the proper coordinates for correction or position modification, as desired. Further, the robot includes apparatus to change direction of motion under certain circumstances, i.e., a collision with an obstruction. This allows the robot to move around obstructions whose location and extent were unknown at the time of movement programming.

REFERENCES:
patent: 4070561 (1978-01-01), Shunichi

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