Patent
1992-05-15
1994-04-19
MacDonald, Allen R.
395 86, 395 89, B25J 900
Patent
active
053054270
ABSTRACT:
A robot numerical control apparatus for following a program and utilizing, in the program, the result of processing an image obtained by a camera attached to an arm of a robot. Either a first command for displacing the manipulating end of the robot to a designated position or a second command for displacing the center of the output image of the camera to the designated position is selectable as a displacement command to actuate the robot. A coordinate transformer is provided for controlling the movement of the robot's arm with pseudo-control in such a manner that when the second command is selected the center of the sensed image is positioned at the manipulating end of a virtual arm measured from the center of the sensed image to the center of the articulation of the robot's arm equipped with the camera, whereby the subject being photographed can be caught exactly at the image sensing center of the camera attached to the robot's arm.
REFERENCES:
patent: 4611292 (1986-09-01), Ninomiya et al.
patent: 4815006 (1989-03-01), Anderson et al.
patent: 4942538 (1990-07-01), Yuan et al.
patent: 4942539 (1990-07-01), McGee et al.
patent: 4969108 (1990-11-01), Webb et al.
Eslinger Lewis H.
MacDonald Allen R.
Maioli Jay H.
Sony Corporation
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