Method of detecting and controlling work start point of robot

Details Method of detecting and controlling work start point of robot Method of detecting and controlling work start point of robot

1986-05-30

1988-08-02

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

364513, 901 9, 901 47, G05B 1910

Patent

active

047615966

ABSTRACT:
A method of detecting and controlling a work start point of a robot of the teaching playback control type is disclosed. The robot has an interpolating function and responds to a position sensor, and a work tool is attached to the robot wrist to be accurately positioned to a work start point of a work object. A shadow of the work tool is produced by an illumination source. The work line of the object, the work tool, and the shadow thereof are image-recognized by a visual sensor. The visual sensor generates position correcting signals along the first and second correcting directions on the basis of the image recognized. The edge of the work tool is moved along the first correcting direction in response to a position correcting signal so as to reduce the distance between the work line and an edge of the work tool on the image recognized. The edge of the work tool is moved along the second correcting direction in response to a position correcting signal so as to reduce the distance between the work tool edge and an edge of the shadow of the work tool on the image recognized. The operations to move the work tool edge in the first and second correcting directions are repeated until the work line, the work tool edge, and the edge of the shadow thereof all coincide on the image recognized.

REFERENCES:
patent: 3888362 (1975-06-01), Fletcher
patent: 3976382 (1976-08-01), Westby
patent: 4305130 (1981-12-01), Kelley
patent: 4402053 (1983-08-01), Kelley
patent: 4412121 (1983-10-01), Kremers
patent: 4567348 (1986-01-01), Smith

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