Boots – shoes – and leggings
Patent
1988-10-28
1991-10-15
Smith, Jerry
Boots, shoes, and leggings
364191, 364513, 901 3, G06F 1546
Patent
active
050579959
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates to a robot control apparatus for programmably controlling a taught/playback-type robot.
2. Description of the Related Art
In order to programmably control a robot having a plurality of controlled axes along a predetermined motion path, it is usually required that the robot be taught designated points successively and that the points be stored in a data memory. In the teaching of such robot command data, addresses indicating which of the locations of the data memory the taught data are to be stored are set and displayed, and target positions at which motions are to be performed as well as motion velocities are designated while actually moving a robot hand by a teaching panel or the like. The taught position data are usually stored upon naming them, as shown at P.sub.1, P.sub.2, . . . in FIG. 5(a) and P.sub.k-1, P.sub.k , . . . in FIG. 5(b).
It has recently become possible to have robots execute complicated activities. For this reason, the above-mentioned conventional method of storing taught points involves a large number of taught target points and increased program length. When a motion program is to be modified, moreover, it is difficult to visualize the correspondence between the program and the motion paths, thus a particular inconvenience is that rewriting position data requires a great amount of time.
SUMMARY OF THE INVENTION
The present invention has been devised to solve these problems and its object is to provide a robot control apparatus in which motion commands and position data in a robot motion program can be easily visualized and which is readily manageable robot command data can be created.
In accordance with the present invention, there is provided a robot control apparatus including a teaching panel for teaching motion target positions and motion velocities, data converting means for converting a position data group contained in robot command data input from the teaching panel into set-type command data together with other robot command data, a data memory for storing the converted command data, and processing control means for creating robot motion data by editing the command data in the data memory.
Thus, the robot control apparatus of the present invention converts a group of position data contained in robot command data into set-type command data together with other robot command data and stores the converted command data. Therefore, by assigning suitable names to the converted command data, readily manageable robot command data can be created. Even if there are many taught points for robot motion, conversion is made into set-type data which simultaneously incorporates various information such as travelling velocity at these positions besides the position data, and these data are stored. This makes the robot command data easy to manage.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram illustrating the general construction of a robot control apparatus to which the present invention is applied,;
FIGS. 2(a), (b), and (c), FIGS. 3(a), (b), and (c), and FIGS. 4(a), and (b), are illustrations describing examples of the present invention,; and
FIGS. 5(a), and (b) are explanatory diagrams illustrating storage of position data in the prior art.
DESCRIPTION OF THE PREFERRED EMBODIMENT
An embodiment of the present invention will now be described in detail with reference to the drawings.
FIG. 1 is a block diagram illustrating the general construction of a robot control apparatus in which the present invention is applied. In FIG. 1, a memory (ROM) b, a memory (RAM) c, a teaching panel d, an axis controller e and a tape reader f are connected to a central processing unit (CPU) "a" via a bus line g. The tape reader f reads data input from a tape h, and the axis controller r outputs a predetermined command signal to a servo circuit i to control a servomotor j.
Various control programs to be executed by the CPU are stored in the memory (ROM) b. The memory (RAM) c stores command data input from the teaching
REFERENCES:
patent: 4348623 (1982-09-01), Kobayashi et al.
patent: 4541060 (1985-09-01), Kogawa
patent: 4543639 (1985-09-01), Inaba et al.
patent: 4602345 (1986-07-01), Yokoyama
patent: 4761745 (1988-08-01), Kodaira
patent: 4890234 (1989-12-01), Tanaka et al.
Kosaka Tetsuya
Mizuno Tohru
Fanuc Ltd.
Gordon Paul
Smith Jerry
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