Boots – shoes – and leggings
Patent
1997-03-03
1999-11-09
DeCady, Albert
Boots, shoes, and leggings
364192, G05B 1942
Patent
active
059800828
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
This invention relates to a robot movement control device and a robot movement control method to correct a teaching point set in a program to another position according to the movement of a tool.
BACKGROUND ART
In conventional control of an industrial robot, an operator teaches a target point for the movement of a tool attached to the end of a robot arm, and a robot is moved according to a program generated so that the robot reaches this teaching point. Such a teaching point specified by the program is sometimes deviated from a set point as the result of varying the position or direction of a workpiece during work. In this case, it is necessary to correct the teaching point deviated from the set point, as a matter of course.
When correction of a teaching point is performed in conventional robot control device, a command block of the teaching point is specified on the screen of a teaching pendant, and the robot is moved to the specified teaching point, and is further moved by jog-feed from the specified teaching point to a corrected teaching point. When the robot reaches the corrected teaching point, a coordinate point of the command block is automatically corrected by instructing correction on the teaching pendant.
However, the conventional robot control device described above needs to find the correspondence between a teaching point to be corrected and its command block. Even if this correspondence is found, it is necessary to alternate execution of a program and jog-feed operation with each other, and as a result, working efficiency is degraded.
DISCLOSURE OF THE INVENTION
It is an object of the present invention to provide a robot movement control device and a robot movement control method, which enable correction of a teaching point easily with accuracy.
In order to attain the above object, as one mode of a robot movement control device according to the present invention, there is provided a robot movement control device which moves a robot tool to a predetermined teaching point and comprises a program storage unit for storing a program to instruct the robot to be moved to the predetermined teaching point, a jog-feed command unit for instructing the robot to be moved by the jog-feed, a jog-feed control unit for moving the robot by the jog-feed in the direction instructed by the jog-feed command unit, and a teaching-point directional movement control unit for watching the position of the robot moved by the jog-feed, and instructing the jog-feed control unit to shift the robot to a teaching point to which the robot comes closer, when the robot approaches any teaching point in the movement command program.
Preferably, the teaching-point directional movement control unit is configured to shift the robot tool after the tool is reoriented to a posture instructed by the program.
As another mode of the robot movement control device according to the present invention, there is provided a robot movement control device which moves a tool of a robot to a predetermined teaching point and comprises a program storage unit for storing a program to instruct the robot to be moved to the predetermined teaching point, a jog-feed command unit for instructing the robot to be moved by the jog-feed, a jog-feed control unit for moving the robot by the jog-feed in the direction instructed by the jog-feed command unit a shifting command unit for instructing the robot to be shifted to a predetermined teaching point, and a teaching-point directional movement control unit for instructing the jog-feed control unit to shift the robot to a teaching point, which is the closest to the position of the robot among teaching points in the movement command program, when the instruction to shift the robot is performed.
Further, in a robot movement control method according to the present invention, a teaching-point move mode is set in a control device for controlling a robot. When the control device enters this teaching-point move mode by switching operation to move a tool attached to the end of a robot arm by the jog-fe
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patent: 4481568 (1984-11-01), Inaba et al.
patent: 4482968 (1984-11-01), Inaba et al.
patent: 4757459 (1988-07-01), Lauchnor et al.
patent: 4815011 (1989-03-01), Mizuno et al.
patent: 4998050 (1991-03-01), Nishiyama et al.
Kosaka Tetsuya
Watanabe Atsushi
Yamamoto Tomoyuki
Chase Shelly A
De'cady Albert
Fanuc Limited
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