Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1990-07-19
1992-08-04
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318577, 318567, 36447431, 395 1, G05B 19403, G06F 1546
Patent
active
051362236
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a robot operating method, and more particularly, to a robot operating method capable of easily performing manual correction of a teaching point during an automatic robot operation, which point is taught to a robot beforehand, and of accurately and effectively performing a desired robot working without the need of employing a visual sensor.
BACKGROUND ART
It is known to use a robot to carry out working to a workpiece which is transferred along an assembly line and then positioned at a predetermined location on the assembly line. In this case, if the positioning location of the workpiece varies, accurate robot working cannot be carried out even when the robot is operated at an operating position (teaching point) which is previously taught to the robot.
To this end, conventionally, dislocation of the teaching point attributable to positional dislocation of the workpiece is compensated for on the basis of a correction data, which is calculated based on an actual workpiece position detected by a visual sensor and which indicates the error between the actual workpiece position and a reference workpiece position. However, according to the above-mentioned conventional robot operating method, the visual sensor is essentially required, which entails inconvenience.
DISCLOSURE OF THE INVENTION
The object of the present invention is to provide a robot operating method capable of easily performing manual correction of a teaching point during an automatic robot operation, which point is taught to a robot beforehand, and of accurately and effectively performing a desired robot working without the need of employing a visual sensor.
To achieve the above-mentioned object, a robot operating method according to the present invention comprises the steps of: (a) operating a robot in a manual operation mode when a first command code is read out from a program during an automatic robot operation; (b) restarting the automatic operation when a predetermined external signal is supplied during the manual operation, and calculating and storing a correction data indicative of a manual adjustment amount in the manual operation; and (c) correcting a teaching data, read out from the program, in accordance with the correction data when a second command code is read out from the program after the restart of the automatic operation.
As mentioned above, according to the robot operating method of the present invention, the robot is manually operated when the first command code is read out, and the teaching data is corrected on the basis of the correction data, calculated at the time of restarting the automatic robot operation, when the second command code is read out after the restart of the automatic operation. Accordingly, the robot can be manually operated at an appropriate time point during the automatic operation so that a desired manual adjustment is easily carried out, by the use of a program in which the first and second command code are respectively stated at required portions of the program. In addition, the teaching data can be corrected in accordance with the results of the manual adjustment, without the need of employing a visual sensor.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic block diagram showing a robot to which a robot operating method according to an embodiment of the present invention is applied;
FIG. 2 is a flowchart showing an operation of the robot of FIG. 1; and
FIG. 3 is a view showing correction of a teaching point, carried out by the robot.
BEST MODE OF CARRYING OUT THE INVENTION
With reference to FIG. 1, a robot is explained to which a robot operating method is applied according to an embodiment of the present invention.
The robot of FIG. 1 comprises a robot control apparatus 10 which is basically the same in construction as the prior art control apparatus, and a robot body 30 having an arm assembly and a tool assembly (none of which is shown) for performing desired working to a working subject 40 under the control of the control apparatus 1
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Karakama Tatsuo
Okanda Kouichi
Fanuc Ltd.
Ip Paul
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