Robot control apparatus

Details Robot control apparatus Robot control apparatus

1986-12-01

1987-11-10

Spar, Robert J.

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With weighing

364513, 414786, 901 8, B25J 900

Patent

active

047054514

ABSTRACT:
A robot control apparatus including a first coordinate transformation unit for transforming an output from a setting unit for setting moving positions of a robot into information in a predetermined general coordinate system. A selector changes the destinations of output information from the first coordinate transformation unit dependent on the type of robot being controlled. A second coordinate transformation unit is provided having a plurality of transformation sections for transforming outputs in the general coordinate system from the first cooridnate transformation unit into information in a coordinate system inherent to the particular robot. The output from the first coordinate transformation unit is applied to one of the transformation sections which is selected by the selector. Robot drive signals are produced in response to output information from the second coordinate transformation unit.

REFERENCES:
patent: 3654616 (1972-04-01), Dunne et al.
patent: 3890552 (1975-06-01), Devol et al.
patent: 4229136 (1980-10-01), Panissidi
patent: 4308584 (1981-12-01), Arai
patent: 4445022 (1984-04-01), Mori
patent: 4456961 (1984-06-01), Price et al.
"The Computer Control of Robot Manipulators", Richard P. Paul, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, 1981.

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