Robot
First Claim
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1. A robot comprising:
- a manipulator having a plurality of movable members, each member connected to its adjacent member with a joint;
means for detecting the relative positions of adjacent movable members with respect to each other;
means for automatically generating positional signals from the detecting means upon teaching operation;
memory means for successively storing the positional signals from the generating means;
means for executing interpolating operation based on two positional signals which are read out from the memory means in order to determine required number of positions between the position corresponding to the two read out positional signals upon playback operation; and
means for positioning each of the movable members of the manipulator, referring to the operation result signals from the interpolating operation means as command values and based on the positional signals from the detecting means as present values.
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Abstract
A robot is disclosed having a robot manipulator, detectors for detecting the positions between each of the movable members of the manipulator, a memory unit for successively storing positional signals supplied from the detectors upon teaching operation, interpolating operation circuits for executing interpolating operation based on two positional signals which are read out from the memory unit in order to determine required number of positions between the two positional signals thus read out upon playback operation, and servo circuits for positioning each of the movable members of the manipulator by the operation result signals from the interpolating operation circuits.
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Citations
19 Claims
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1. A robot comprising:
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a manipulator having a plurality of movable members, each member connected to its adjacent member with a joint; means for detecting the relative positions of adjacent movable members with respect to each other; means for automatically generating positional signals from the detecting means upon teaching operation; memory means for successively storing the positional signals from the generating means; means for executing interpolating operation based on two positional signals which are read out from the memory means in order to determine required number of positions between the position corresponding to the two read out positional signals upon playback operation; and means for positioning each of the movable members of the manipulator, referring to the operation result signals from the interpolating operation means as command values and based on the positional signals from the detecting means as present values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A teaching-playback type robot, comprising:
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memory means for storing actuation information for the playback operation to a robot manipulator; means for comparing first actuation information at first teaching position with second actuation information at second teaching position succeeding to the first teaching position in the teaching operation, the second actuation information at the second teaching position being stored in the memory means as the information for the playback operation upon detection of predetermined changes between the first and second actuation information by the comparing means; and means for actuating a robot manipulator in accordance with the actuation information read out from the memory means. - View Dependent Claims (13, 14)
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15. A manipulator apparatus, comprising:
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a manipulator having a plurality of movable member, each member connected movably to its adjacent member through joint mechanisms, and being provided with a tool on the free end thereof; means for detecting the relative positions of adjacent movable members with respect to each other; means for automatically generating positional signals issued from said detecting means upon teaching operation; means for comparing positional signals of first taught position generated by said generating means with positional signals of second taught position succeeding to said first taught position generated by said generating means upon the teaching operation; memory means for successively storing said positional signals of the second taught position in the case where said comparing means detects the predetermined change between said positional signals of the first and second taught positions; and means for positioning each of said movable members in accordance with a comparison of positional signals produced on the basis of the positional signals from said memory means as command signals and positional signals issued from said detecting means as present positional signals, upon playback operation. - View Dependent Claims (16, 17, 18, 19)
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Specification