Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1992-07-02
1993-09-07
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856819, 31856813, 395 97, 364191, 901 3, 901 8, B25J 900
Patent
active
052432661
ABSTRACT:
An industrial robotic system related to the present invention provides a workpiece handling robot manipulating a workpiece and a tool handling robot manipulating a tool processing the workpiece. A teaching control device for manual operation of the robotic system controls not only the execution of a conventional sole-acting manual mode of operation, but also the execution of a co-acting manual mode of operation. According to a co-acting manual mode of operation, "a relative position and a relative attitude of a tool against a workpiece" are maintained substantially constant.
When the manipulation of the workpiece is executed in order to get a new setting state by means of a co-acting manual mode of operation from an initial setting state, the tip point of the tool is remained at an aimed point on the workpiece and an attitude of the tool against the workpiece is maintained without interference between the tool and the workpiece.
The new setting state for teaching a new teaching point is established by means of sole-acting manipulating the tool from the aimed point manipulated by the workpiece handling robot to a new aimed on the workpiece.
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patent: 5148591 (1992-09-01), Pryor
Kasagami Fumio
Kugumiya Seisuke
Ip Paul
Kabushiki Kaisha Daihen
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