Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1994-06-16
1995-12-26
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856815, 318573, 901 3, G05B 1918
Patent
active
054790786
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention relates to a position teaching method applicable to robots for industrial and other uses, which operate according to a taught program, and, more particularly to a position teaching method for robots applicable when modifying the position which has already been taught (taught position).
DESCRIPTION OF THE RELATED ART
When a robot for industrial or other use (hereinafter simply called a robot), which operates according to a taught program, is used to perform various operations, the need for changing the position taught by a program arises frequently.
In changing the taught position, one of the generally practiced methods is to move the robot actually to the modified position (that is, the taught position to be realized after the modification has been made) by manual feeding or with other means to store the position, or to input the data of modified position directly. However, when the amount of the modification is known in advance, it is popular for the operator to input the amount of position modification for changing the taught position.
As a typical example of modifying the taught position, there is a case where only the taught position is changing without changing the direction between taught positions in the program already taught before performing the actual operation.
For example, in the case where position teaching has been performed for a robot in a form of program teaching to perform operations such as grasping, carrying, or arc welding on a plurality of workpieces of a predetermined size L arranged linearly at predetermined intervals D, when the predetermined interval D or the predetermined size L is changed, it is apparently inefficient to perform teaching by manual feeding or re-preparation of the entire program. Thus, it is preferable for the operator to input the taught position modification data.
Conventionally, in such a case as is described above, the operator had to perform preparatory work to specify the position modification data represented on the same coordinate system as that on which the already taught position data are based or the data which can be converted into the position change data in the robot controller (the position modification data represented on the coordinate system which has been set in advance for the robot or on the reference coordinate system).
As described above, to input the taught position modification data by the conventional method, preparatory work is required to specify the position modification data represented on the coordinate system set in advance for the robot or on the reference coordinate system. However, it is not always easy for the operator to perform such preparatory work quickly and accurately, because the operators are not necessarily familiar with these coordinate systems in many instances.
Even if the operator is familiar with these coordinate systems, the actual position change is not always in parallel to the direction of either axis of these coordinate systems (direction of X-, Y- or Z-axis of the orthogonal coordinates, or direction of r, .theta., or .phi. of the polar coordinates). Therefore, the change data for each axis component (X component, .theta. component, etc.) must be determined. In the case of the operation on the aforementioned workpieces arranged linearly, for example, the direction of the position change along the arrangement direction or the size change direction is not always exactly in parallel to one axis of the coordinate system set for the robot or the reference coordinate system.
It is therefore necessary in general to find the data corresponding to the cosine of direction of the vector, which is directed from the position before modification toward the position after modification and represented on the concerned coordinate system, and to calculate the component of the amount of modification based on such data. Such work is complicated, and sometimes extra measurement work (for example, the measurement in the workpiece arrangement direction, or the measurement in the si
REFERENCES:
patent: 4380696 (1983-04-01), Masaki
patent: 4568816 (1986-02-01), Casler, Jr.
patent: 4675502 (1987-06-01), Haefner et al.
Ikeda Yoshitaka
Karakama Tatsuo
Watanabe Atsushi
Fanuc Ltd.
Ro Bentsu
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