Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1993-01-19
1994-07-05
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856819, 318561, 318567, 395 86, 395 88, G05B 1919
Patent
active
053270576
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
Technical Field
This invention relates to a method of generating data indicative of robot control axis positions. More particularly, the invention relates to a robot control axis position data generating method through which universal robot control axis position data of the same format can be generated offline irrespective of the type of robot (cylindrical coordinate system robots, articulated robots, Cartesian coordinate system robots and other robots having different control axis configurations).
Background Art
A robot has its position controlled on the basis of robot control data created in advance and stored in memory and performs tasks at predetermined positions, such tasks including loading and unloading the workpiece of a machine tool or the like, attaching and detaching tools to and from the machine tool, and subjecting workpieces to painting, welding and sealing. Hereafter, an effector such as the robot hand, a welding torch or a paint spraying nozzle attached to the robot shall be referred to generically as a "tool".
Conventionally, the positions of the control axes constituting a robot or path data are created by a teaching operation in which the tool is moved manually along a desired path, and the data are stored in a robot control unit memory. When an actual task is performed, path control is executed using the position or path data created by the teaching operation and the tool is moved along the desired path or positioned at desired points to performed the predetermined task.
However, creating the position data and path data by teaching is troublesome and time-consuming, and the teaching operation is hazardous. Moreover, highly precise teaching of positions and paths cannot be performed, thus making it impossible to achieve highly precise painting, welding and sealing.
Accordingly, an object of the present invention is to provide a robot control axis position data generating method through which data indicative of robot control axis positions can be created simply and offline without teaching.
Another object of the present invention is to provide a robot control axis position data generating method through which data indicative of robot control axis positions can be created offline in the same format for robots of all kinds.
Still another object of the present invention is to provide a robot control axis position data generating method for specifying robot control axis positions in terms of the task the robot executes and tool attitude data determined by the tool shape, in addition to the tool tip position obtained from data specifying the shape of the workpiece.
A further object of the present invention is to provide a robot control axis position data generating method for creating data specifying robot control axis positions in the same format for robots of all kinds, subjecting these data to a coordinate transformation in dependence upon the robot being controlled, and controlling the position of each axis of the robot on the basis of the control axis position data obtained by the coordinate transformation.
According to the present invention, these objects are attained by inputting data specifying the shape of a workpiece and data specifying the attitude of a tool conforming to the task to be executed by a robot, calculating the position of the tool tip in the workpiece coordinate system by using the data specifying the workpiece shape, and specifying the position of each control axis of the robot along a tool path by using the tool tip position and the tool attitude data.
DISCLOSURE OF THE INVENTION
The method of the invention includes inputting data specifying the shape of a workpiece and data specifying the attitude of a tool conforming to the task to be executed by a robot, calculating the position (X, Y, Z) of the tool tip in the workpiece coordinate system by using the data specifying the workpiece shape, obtaining the position of each control axis constituting the robot by using the tool tip position and the tool attitude data, and successively obtaining posit
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patent: 4497029 (1985-12-01), Kiyokawa
patent: 4558977 (1985-12-01), Inoue et al.
patent: 4572998 (1986-02-01), Nozawa et al.
Kishi Hajimu
Sakakibara Shinsuke
Tanaka Kunio
Fanuc Ltd.
Martin David
Shoop Jr. William M.
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