System for controlling a robot in association with a rotary tabl

Details System for controlling a robot in association with a rotary tabl System for controlling a robot in association with a rotary tabl

1987-06-05

1989-06-06

Spar, Robert J.

Material or article handling

Vertically swinging load support

Nonfixed pivot

414730, 901 4, 901 6, 901 15, B66C 2300

Patent

active

048367427

ABSTRACT:
A system is provided for controling a robot operating in association with a rotary table, including a robot, a rotary table, and a control circuit. The control circuit carries out a step of composing and storing teaching data as values on a rotary table orthogonal coordinate system (UVW axes), the rotational shaft of the rotary table being the vertical (W) axis, a step of calculating the UVW coordinates of a plurality of interpolation points by carrying out path interpolation along a line and/or curve defined by the stored teaching data, a step of calculating the degree of rotation of the rotary table which is required to bring each of the interpolation points into the U-W plane, a step of computing the UVW coordinates of the positions that the interpolation points occupy as they pass through the U-W plane, a step of transforming the data obtained by the computing step from coordinates in the UVW coordinate system to coordinates in a robot assigned coordinate system (XYZ axes) or orientation positions of the joint axes of the robot, and operating the robot in accordance with the information thus derived.

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patent: 4712183 (1987-12-01), Shiroshita et al.
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Computer, vol. 15, No. 6, Jun. 1982, pp. 8-23, USA, R. A. Jarvis: "A Computer Vision and Robotins Laboratory".

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