Robot controller
First Claim
1. A robot controller for correcting a target position of a robot hand based on a position of a workpiece detected by a visual sensor to thereby move said robot hand toward or away from said workpiece (W), comprising:
- a path pattern storage means for storing a plurality of path patterns including an approaching path along which said robot hand approaches a specific target position and a leaving path along which said robot hand leaves the specific target position, said specific target position being predetermined in order to define the approaching path and the leaving path for said robot hand, wherein said robot controller selects one of the plurality of path patterns stored in said path pattern storage means, based on the position of said workpiece detected by said visual sensor, modifies the selected path pattern so that the target position of said robot hand is coincident with the position of the workpiece detected by said visual sensor, defining the modified path pattern as revised approaching and leaving paths, and moves said robot hand along the revised approaching path and leaving paths.
1 Assignment
0 Petitions
Accused Products
Abstract
A robot controller is disclosed in which a specific target position is predetermined in order to define approaching and leaving paths for a robot hand, and a plurality of different path patterns are stored in a path pattern storage means as the approaching and leaving paths along which the robot hand approaches and leaves the predetermined specific target position. Next, based on a workpiece position detected by a visual sensor, one of the path patterns stored in the path pattern storage means is selected, and the selected path pattern is modified so that the target position of the robot hand is coincident with the actual workpiece position. The modified path pattern is defined as revised approaching and leaving paths and the robot hand is moved along the revised approaching and leaving paths.
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Citations
8 Claims
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1. A robot controller for correcting a target position of a robot hand based on a position of a workpiece detected by a visual sensor to thereby move said robot hand toward or away from said workpiece (W), comprising:
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a path pattern storage means for storing a plurality of path patterns including an approaching path along which said robot hand approaches a specific target position and a leaving path along which said robot hand leaves the specific target position, said specific target position being predetermined in order to define the approaching path and the leaving path for said robot hand, wherein said robot controller selects one of the plurality of path patterns stored in said path pattern storage means, based on the position of said workpiece detected by said visual sensor, modifies the selected path pattern so that the target position of said robot hand is coincident with the position of the workpiece detected by said visual sensor, defining the modified path pattern as revised approaching and leaving paths, and moves said robot hand along the revised approaching path and leaving paths. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification