Zero point adjusting robot control method

Details Zero point adjusting robot control method Zero point adjusting robot control method

1986-08-07

1988-07-12

Ruggiero, Joseph

Boots, shoes, and leggings

901 2, 901 11, 901 46, G06F 1546

Patent

active

047574585

ABSTRACT:
There is disclosed a control method for returning a robot control operation to an accurate zero point before the start of the operation. The method is suitable when applied even to a turning operation of 360 degrees or more. For this control, the arm of the robot is turned counterclockwise at a low speed until a zero position detecting switch is turned on, and these turns are then reversed and stopped when a zero position detecting pulse is generated. The counted value (A) of the deviation between the instant when the zero position detecting switch in this case is turned on and the instant when the zero position detecting pulse is generated is registered. The counted value (B) measured likewise each time during the subsequent zero point adjustments is compared with the aforementioned counted value (A) of the deviation first registered so that the zero point of the control operation of the robot can be detected.

REFERENCES:
patent: 4432063 (1984-02-01), Resnick
patent: 4453085 (1984-06-01), Pryor
patent: 4590577 (1986-05-01), Nio et al.
patent: 4608651 (1986-08-01), Murakami et al.
patent: 4626756 (1986-12-01), Inaba et al.
patent: 4647827 (1987-03-01), Toyoda et al.

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