Robots – Counterbalance
Patent
1995-12-14
1999-03-23
Davis, George B.
Robots
Counterbalance
395 99, 901 42, 901 46, 901 47, B23K 9127, G01N 2186
Patent
active
058871225
ABSTRACT:
A method of controlling a robot to perform a weaving action and a tracking action using a non-contact sensor. When a weaving start command with a condition of a cycle Tw is issued, a laser sensor starts scanning in a cycle Tw/2n in synchronism with the start of weaving action, and outputs sensor data for every scanning time to be stored in a memory. After starting the weaving action, the robot performs a weaving action with a welding line as a reference path, until the tool reaches the weaving extreme (Sm, Sn+m, S2n+m, . . . ) or the termination of the weaving according to the weaving condition. Since a timed relationship between the weaving action and the scanning action of the laser sensor is known, the robot position corresponding to detection data can be calculated, based on which it is possible to successively determine a target position of the robot movement by adding a weaving amount for each detection point. The weaving action is synchronized with the scanning of the laser sensor every time the robot reaches the position of the weaving extreme Sm, Sn+m, . . . to pause and the weaving action is continued tracing the welding line as a reference path.
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Okuda Mitsuhiro
Terawaki Fumikazu
Davis George B.
Fanuc Ltd.
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