Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1997-03-03
1999-06-15
Wysocki, Jonathan
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
901 4, 901 49, 36447419, B25J 922
Patent
active
059125403
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a robot operation control system for machining or carrying workpieces, and more particularly to a robot operation control system in which an operational instruction is manually performed.
BACKGROUND ART
Conventionally, as a method of manually operating a robot, there are (1) an individual-axis manual feed for respective joint axes of a robot, (2) multi-directional manual linear feed in the perpendicular XYZ coordinate system defined in the working space of a robot, (3) manual linear feed in each axial direction in a perpendicular tool coordinate system defined for a wrist section of the distal end of a robot arm, and (4) manual feed for hand inclination control in the perpendicular coordinate system, and manual feed for the hand inclination control in the tool coordinate system. In practice, the required manual feed has to be carried out by first selecting one coordinate system for execution of these manual feed procedures and then selecting one axis being subject to such manual feed as well as its feed direction (+, -) Thus, it is necessary for the operator, before starting the operation of a robot, to check the exact direction of operation; based on the present attitude and coordinate system of the robot. This check is done depending on the operator's empirical perception. To do this, for example, the operator may first operate the robot to let it move a little to verify the resulting direction of movement, and then gives thereto a necessary operation command for the subsequent operation.
However, with such an operation control system, it may happen that the robot accidentally operates in directions operator did not expect. If this is the case, in the prior art, the operator is required to restart the operation by restoring the initial position and attitude of the robot manually. However, since the stored initial state information is lost when the robot is operated once, it has been difficult to restore the robot to its initial state accurately. This contributes to the complication of the work.
According to the prior known system, since the robot typically operates at a certain speed determined based on the override value set at the time of start, in those cases where this speed is greater than the operator's expected operation speed, there arises a risk of occurrence of work errors.
Furthermore, in the case of the prior art, when the preset overriding speed is too fast to verify the operating direction at the start of operation, it is required to check operating direction by once lowering the preset overriding speed, and thereafter restarting the intended work after returning the overriding speed to the set value. This adversely affects the working efficiency.
DISCLOSURE OF THE INVENTION
An object of the present invention is to provide a robot operation control system capable of assuring safety, upon initial activation of a robot in accordance with a manual operation command given by a jog button and the like, even if the robot should move in an unexpected direction, as well as enabling the robot to recover the proper direction of its operation.
To attain the foregoing object, in accordance with a first embodiment of the present invention, the robot is designed to be capable of recovering its stored initial position in response to a manual operation command by storing the initial state of the robot in advance. As a result, it becomes possible for the robot to surely restore its original position and attitude, while allowing the operating direction of the robot to be fine checked. This enables the robot to be moved by manual feed towards the target direction, thereby contributing to the improvement in working efficiency.
Also, in accordance with a second embodiment of the present invention, when the robot operation control is performed in response to the manual operation commands, during a certain time period from the start of operation, the robot is operated at a safety speed set in advance. Thus, safety can be maintained even if the robot should o
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Aramaki Takeaki
Kosaka Tetsuya
Fanuc Ltd.
Wysocki Jonathan
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