Method for controlling robot attitude based on tool workpiece an

Details Method for controlling robot attitude based on tool workpiece an Method for controlling robot attitude based on tool workpiece an

1994-10-27

1996-07-09

Le, Que T.

Radiant energy

Photocells; circuits and apparatus

With circuit for evaluating a web, strand, strip, or sheet

25055933, 21912182, G01N 2186

Patent

active

055347053

ABSTRACT:
A method of controlling a robot attached to a tool. The position of the robot is corrected in real time by detecting a target position on a workpiece by a laser sensor. A laser light emitted from a laser light source of the laser sensor scans a surface of the workpiece toward a direction across an operating line. An initial scanning forms a locus of laser irradiation points and crossing points which intersect the locus with the operating line on the workpiece. Angle .alpha. is defined to be an angle formed between an axis of the tool and the locus on the surface of the workpiece. Angle .beta. is defined to be an angle formed between the operating line (point series line connecting the crossing points obtained by a current and past scanning) and the center axis of the tool. Further, angle .gamma. is defined to be a rotation angle around an axis of the tool on the basis of the operating line. An attitude of the robot is determined by the angles .alpha., .beta. and .gamma.. The attitude of the robot is controlled by equalizing the angles .alpha., .beta. and .gamma. to set values .alpha..sub.set, .beta..sub.set and .gamma..sub.set, respectively, at instruction positions.

REFERENCES:
patent: 5001324 (1991-03-01), Aiello et al.
patent: 5399870 (1995-03-01), Torii et al.

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