Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2000-09-18
2001-12-11
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S247000, C700S248000, C700S249000, C700S250000, C700S251000, C700S254000, C700S264000, C310S100000, C310S100000, C310S100000, C901S006000, C901S009000, C901S046000, C701S023000
Reexamination Certificate
active
06330493
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a control system for controlling a plurality of industrial robots, and more particularly a control system for performing a synchronously cooperative operation using the plurality of robots.
2. Description of the Related Art
There has not been provided any practical control system for performing a synchronously cooperative operation using a plurality of robots which are respectively controlled by robot controllers connected with one another by a communication line. In the conventional system for the synchronously cooperative operation of the robots, a changeover between a synchronously cooperative operation and a normal independent operation of the robots is set at the time of constructing the system, and it is necessary to change a basic setting of the system for changing the changeover setting for the synchronous cooperative operation.
A combination of robots to be operated in synchronous cooperation has been fixedly set at the time of system construction. In the case where the system has four robots respectively controlled by four robot controllers connected by communication lines, for example, the conventional system has adopted a method in which all of the four robots are operated in synchronous cooperation by these controllers.
In the practical use, according to content of an operation, there is a case where it is desirable that all of four robots, in the above-described example, operate in synchronous cooperation, a case where it is desirable that each robot operates individually, a case where it is desirable that only two or only three of the four robots operate in synchronous cooperation and the remaining robots operate individually, and further a case where it is desirable that two of the four robots and the remaining two robots respectively operate in synchronous cooperation. However, in the conventional synchronously cooperative operation system, robots to be operated in synchronous cooperation cannot be selected in accordance with the operation to be performed. Such a system is inconvenient in that all the robots are operated either in synchronous cooperation or individually, so that the synchronously cooperative operation of desired robots selected from the robots in accordance with the kind of operation can not be performed.
Furthermore, in the synchronously cooperative operation, an operator of the robots has to pay attention to the motion of the master robot as well as the slave robot since the slave robot operates in accordance with the master robot. However, it is difficult for the operator to recognize the synchronously cooperative operation status of the robots from the motion of the robots.
SUMMARY OF THE INVENTION
According to an aspect of the present invention, a control system for a plurality of robots comprises a plurality of robot controllers connected with one another by a communication line, for respectively controlling the plurality of robots. At least one master robot controller is selected for controlling at least one master robot from the plurality of robot controllers, and one or more slave robot controllers is selected for one or more slave robots from the rest of the plurality of robot controllers. The master robot controller sends data regarding positions of taught points and interpolation points for the master robot to each of the slave robot controllers through the communication line, so that each slave robot controller controls the slave robot thereof to perform the synchronously cooperative operation with the master robot based on the data received from the master robot controller.
According to another aspect of the present invention, a control system for a plurality of robots comprises robot controllers connected with one another by a communication line, for respectively controlling at least three robots. At least one master robot controller is selected for controlling at least one master robot from the robot controllers, and one or more slave robot controllers is selected for controlling one or more slave robots for the master robot from the rest of the plurality of robot controllers. The master robot controller sends data regarding positions of taught points and interpolation points for the master robot to each of the slave robot controllers through the communication line, so that each slave robot controller controls the slave robot thereof to perform the synchronously cooperative operation with the master robot based on the data received from the master robot controller.
Each of the plurality of robot controllers may store a series of operation programs as a combination of a master program to operate the controlled robot as the master robot, a slave program to operate the controlled robot as the slave robot and a normal program to operate the controlled robot independently of the other robots.
The synchronously cooperative operation of the master robot and the slave robots may be started and terminated by a program command in an operation program stored in the master robot controller.
Each of the master controller and the slave controllers may store an operation program with an attribute for the synchronously cooperative operation, and the synchronously cooperative operation of the master robot and the slave robots may start when the master robot controller and the slave robot controller start execution of the operation programs having the attributes of the synchronously cooperative operation, and terminates with completion of the operation programs having the attributes.
The master robot controller and the slave robot controllers may output signals indicative of the midst or the ready of the synchronously cooperative operation when the master robot and the slave robots are in the midst or the ready of the synchronously cooperative operation.
The master robot controller and the slave robot controller may output signals indicative of the midst or the ready of the synchronously cooperative operation when the master robot and the slave robots are in the midst or the ready of the synchronously cooperative operation. Thus, an operator of the robot controller can confirm the status of the synchronously cooperative operation.
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Kosaka Tetsuya
Takahashi Hiromitsu
Cuchlinski Jr. William A.
Fanuc Ltd.
Marc McDieunel
Staas & Halsey , LLP
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