1992-07-21
1995-05-02
MacDonald, Allen R.
395 86, G06F 1546
Patent
active
054127599
ABSTRACT:
Even if a stop position of a supplied workpiece is not accurate, in order which an online robot can accurately perform works such as welding and painting, through the use of an offline robot of the same type as the online robot, detecting three reference positions on a workpiece by a first optical three-dimensional position detection means and teaching can be performed. The first coordinate transform matrix A1 stores the coordinates of each of the positions for an operation on the workpiece as the taught contents, when it is assumed that the workpiece is at a first reference position. The online robot uses a second coordinate transform matrix A2 to calculate coordinates when it is assumed that the workpiece is at a second reference position of the online robot and stores these in a second memory, and the reference points of the workpiece which is supplied for processing are detected by a second optical three-dimensional position detection means and a third coordinate transform matrix A3 is used to determine each of the positions for operation on the supplied workpiece and the online robot reproduces them and performs the work. Even if the stop position of the supplied workpiece is not accurate, it is possible for operations to be accurately performed on the work.
REFERENCES:
patent: 3890552 (1975-06-01), Devol et al.
patent: 4590578 (1986-05-01), Barto, Jr. et al.
patent: 4613943 (1986-09-01), Miyake et al.
patent: 4683544 (1987-07-01), Hariki
patent: 4853874 (1989-08-01), Iwamoto et al.
patent: 4998050 (1991-03-01), Nishiyama et al.
patent: 5021970 (1991-06-01), Mohri et al.
patent: 5041991 (1991-08-01), Fujiki
patent: 5191639 (1993-03-01), Hara
Matsumoto Tadayuki
Ota Kouji
Watanabe Masayuki
Yano Tatsuo
Kawasaki Jukogyo Kabushiki Kaisha
MacDonald Allen R.
Shapiro Stuart B.
Toyota Jidosha & Kabushiki Kaisha
LandOfFree
Robot control method and apparatus does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Robot control method and apparatus, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Robot control method and apparatus will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-1144451