Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-04-06
2009-11-03
Tran, Khoi (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
Reexamination Certificate
active
07613545
ABSTRACT:
An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.
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Cook, George E., et al; An Intelligent Robotics Simulator; Industry Application Society Annual Meeting, 1994; Oct. 1994; pp. 1793-1800.
Kobayashi Hirohiko
Nagatsuka Yoshiharu
Watanabe Atsushi
Drinker Biddle & Reath LLP
Fanuc Ltd
Kiswanto Nicholas
Tran Khoi
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