Auxiliary function command presequencing for a robot controller

• US 4,484,120 A
• Filed: 04/13/1983
• Issued: 11/20/1984
• Est. Priority Date: 04/13/1983
• Status: Expired due to Fees

• Current Assignee: Nordson Corporation
• Original Assignee: Nordson Corporation
• Inventors: Spongh, Rolf T., Olex, Michael B.
• Primary Examiner(s): Dobeck, B.
• Application Number:
  US06/484,645
• Time in Patent Office: 587 Days
• Field of Search: 318/568, 318/565, 318/569, 364/140, 364/513, 364/184, 901/3, 901/23, 901/43, 250/222.1, 414/4, 414/5
• US Class Current: 318/568.14
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems

Abstract

A control system for a work robot having a number of articulated links including a controller for driving the links under closed loop servo control in response to a sequence of recorded link position commands read from a robot program memory. The sequence of link position commands is produced in a training session by an operator manually manipulating a robot simulator, or training arm, through a series of work-performing motions which are to be duplicated by the work robot. The sequence of link position commands produced by manual manipulation of the training arm during the training session is stored in the robot program memory. When the work robot is subsequently driven under closed loop servo control in response to the program stored in the robot memory, the controller also executes auxiliary functions, such as movement of a work piece operated upon by the work robot, in response to auxiliary function commands which are also stored in the robot program memory. In order to properly store the auxiliary function commands in the robot program memory, the auxiliary function commands are loaded in an auxiliary function memory prior to a training session so that they can be read out in a desired sequence.

Claims

1. A control system for a work robot comprising:

a controller for concurrently (a) driving at least one articulated robot link under closed loop servo control and (b) executing at least one auxiliary function operating in conjunction with the robot link, in response to a sequence of link position commands and auxiliary function commands read from a robot program memory;

an auxiliary function memory, associated with the controller, for temporarily storing auxiliary function commands;

means for loading the auxiliary function memory with auxiliary function commands, prior to storing a sequence of link position commands and auxiliary function commands in the robot program memory, so that the auxiliary function commands can be read from the auxiliary function memory in a desired order;

a robot simulator manually manipulable to produce a sequence of robot link position commands;

manually operated auxiliary function command sequencing means for effecting the reading of each auxiliary function command, in order, from the auxiliary function memory at a point in the sequence of robot link position commands correlated to the point during the sequence of robot link position commands at which the sequencing means is manually operated; and

memory means in the controller, coupled to the robot simulator and to the auxiliary function memory, including a robot program memory for storing the sequence of link position commands produced by the simulator interleaved with the auxiliary function commands read from the auxiliary function memory, each auxiliary function command being stored at a point in the sequence of robot link position commands correlated to the point in the sequence of robot link position commands at which the auxiliary function command sequencing means is manually operated.

2. The control system of claim 1 which further comprises means for implementing each auxiliary function command as it is read from the auxiliary function memory for storage in the robot program memory.

3. The control system of claim 2 which further comprises an auxiliary output device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for providing an auxiliary output command to the auxiliary output device to activate the device.

4. The control system of claim 2 which further comprises an auxiliary input device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for reading the condition of the auxiliary input device in response to an auxiliary input function command read from the robot program memory.

5. The control system of claim 3 which further comprises an auxiliary input device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for reading the condition of the auxiliary input device in response to an auxiliary input function command read from the robot program memory.

6. The control system of claim 5 in which the controller drives a plurality of articulated robot links, which comprise a work robot, under closed loop servo control for movement relative to a work piece, and the auxiliary output device includes means for varying the orientation of the work piece relative to the work robot.

7. A control system for a work robot which includes a spray coating gun for applying a spray coating to a work piece comprising:

a controller for concurrently (a) driving at least one articulated robot link under closed loop servo control, (b) executing at least one spray gun command in conjunction with the robot link, and (c) executing at least one auxiliary function operating in conjunction with the robot link, in response to a sequence of link position commands, gun commands, and auxiliary function commands read from a robot program memory;

an auxiliary function memory, associated with the controller, for temporarily storing auxiliary function commands;

means for loading the auxiliary function memory with auxiliary function commands, prior to storing a sequence of link position commands and auxiliary function commands in the robot program memory, so that the auxiliary function commands can be read from the auxiliary function memory in a desired order;

a robot simulator manually manipulable to produce a sequence of robot link position commands;

a robot simulator spray gun manually operable to produce gun commands for controlling the flow of coating material from the gun;

manually operated auxiliary function command sequencing means for effecting the reading of each auxiliary function command, in order, from the auxiliary function memory at a point in the sequence of robot link position commands correlated to the point during the sequence of robot link position commands at which the sequencing means is manually operated; and

memory means in the controller, coupled to the robot simulator, the simulator spray gun, and the auxiliary function memory, including a robot program memory for storing the sequence of link position commands produced by the simulator interleaved with the gun commands and the auxiliary function commands read from the auxiliary function memory, each auxiliary function command being stored at a point in the sequence of robot link position commands correlated to the point in the sequence of robot link position commands at which the auxiliary function command sequencing means is manually operated.

8. The control system of claim 7 which further comprises means for implementing each auxiliary function command as it is read from the auxiliary function memory for storage in the robot program memory.

9. The control system of claim 8 which further comprises an auxiliary output device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for providing an auxiliary output command to the auxiliary output device to activate the device.

10. The control system of claim 8 which further comprises an auxiliary input device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for reading the condition of the auxiliary input device in response to an auxiliary input function command read from the robot program memory.

11. The control system of claim 9 which further comprises an auxiliary input device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for reading the condition of the auxiliary input device in response to an auxiliary input function command read from the robot program memory.

12. The control system of claim 11 in which the controller drives a plurality of articulated robot links, which comprise a work robot, under closed loop servo control for movement relative to a work piece, and the auxiliary output device includes means for varying the orientation of the work piece relative to the work robot.

13. A control system for a work robot comprising:

a controller for concurrently (a) driving at least one articulated robot link under closed loop servo control and (b) executing at least one auxiliary function operating in conjunction with the robot link, in response to a sequence of link position commands and auxiliary function commands read from a robot program memory;

an auxiliary function memory, associated with the controller, for temporarily storing auxiliary function commands;

means for loading the auxiliary function memory with auxiliary function commands, prior to storing a sequence of link position commands and auxiliary function commands in the robot program memory, so that the auxiliary function commands can be read from the auxiliary function memory in a desired order;

means for producing a sequence of robot link position commands;

manually operated auxiliary function command sequencing means for effecting the reading of each auxiliary function command, in order, from the auxiliary function memory at a point in the sequence of robot link position commands correlated to the point during the sequence of robot link position commands at which the sequencing means is manually operated; and

memory means in the controller, coupled to the means for producing link position commands and to the auxiliary function memory, simulator and to the auxiliary function memory, including a robot program memory for storing the sequence of link position commands produced by the simulator interleaved with the auxiliary function commands read from the auxiliary function memory, each auxiliary function command being stored at a point in the sequence of robot link position commands correlated to the point in the sequence of robot link position commands at which the auxiliary function command sequencing means is manually operated.

14. The control system of claim 13 which further comprises means for implementing each auxiliary function command as it is read from the auxiliary function memory for storage in the robot program memory.

15. The control system of claim 14 which further comprises an auxiliary output device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for providing an auxiliary output command to the auxiliary output device to activate the device.

16. The control system of claim 14 which further comprises an auxiliary input device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for reading the condition of the auxiliary input device in response to an auxiliary input function command read from the robot program memory.

17. The control system of claim 15 which further comprises an auxiliary input device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for reading the condition of the auxiliary input device in response to an auxiliary input function command read from the robot program memory.

18. The control system of claim 17 in which the controller drives a plurality of articulated robot links, which comprise a work robot, under closed loop servo control for movement relative to a work piece, and the auxiliary output device includes means for varying the orientation of the work piece relative to the work robot.

19. A control system for a work robot which includes a spray coating gun for applying a spray coating to a work piece comprising:

a controller for concurrently (a) driving at least one articulated robot link under closed loop servo control, (b) executing at least one spray gun command in conjunction with the robot link, and (c) executing at least one auxiliary function operating in conjunction with the robot link, in response to a sequence of link position commands, gun commands, and auxiliary function commands read from a robot program memory;

an auxiliary function memory, associated with the controller, for temporarily storing auxiliary function commands;

means for loading the auxiliary function memory with auxiliary function commands, prior to storing a sequence of link position commands and auxiliary function commands in the robot program memory, so that the auxiliary function commands can be read from the auxiliary function memory in a desired order;

means for producing a sequence of robot link position commands;

a robot simulator spray gun manually operable to produce gun commands for controlling the flow of coating material from the gun;

manually operated auxiliary function command sequencing means for effecting the reading of each auxiliary function command, in order, from the auxiliary function memory at a point in the sequence of robot link position commands correlated to the point during the sequence of robot link position commands at which the sequencing means is manually operated; and

memory means in the controller, coupled to the means for producing a sequence of robot link position commands, the simulator spray gun, and the auxiliary function memory, including a robot program memory for storing the sequence of link position commands produced by the simulator interleaved with the gun commands and the auxiliary function commands read from the auxiliary function memory, each auxiliary function command being stored at a point in the sequence of robot link position commands correlated to the point in the sequence of robot link position commands at which the auxiliary function command sequencing means is manually operated.

20. The control system of claim 19 which further comprises means for implementing each auxiliary function command as it is read from the auxiliary function memory for storage in the robot program memory.

21. The control system of claim 20 which further comprises an auxiliary output device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for providing an auxiliary output command to the auxiliary output device to activate the device.

22. The control system of claim 20 which further comprises an auxiliary input device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for reading the condition of the auxiliary input device in response to an auxiliary input function command read from the robot program memory.

23. The control system of claim 21 which further comprises an auxiliary input device not associated with the robot link and in which the means for implementing auxiliary function commands includes means for reading the condition of the auxiliary input device in response to an auxiliary input function command read from the robot program memory.

24. The control system of claim 23 in which the controller drives a plurality of articulated robot links, which comprise a work robot, under closed loop servo control for movement relative to a work piece, and the auxiliary output device includes means for varying the orientation of the work piece relative to the work robot.

25. A method of storing a program for concurrently (a) driving a work robot having at least one articulated link under closed loop servo control and (b) executing at least one auxiliary function not related to the robot link, in which the program is made up of a sequence of link position commands interleaved with auxiliary function commands, comprising the steps of:

loading an auxiliary function memory with auxiliary function commands so that the commands can be read from the auxiliary function memory in a desired order;

producing a sequence of robot link position commands;

reading each auxiliary function command from the auxiliary function memory, in sequence, during the production of the robot link position commands; and

storing the sequence of link position commands interleaved with the auxiliary function commands read from the auxiliary function memory, with each auxiliary function command being stored at a point in the sequence of link position commands correlated to the point in the link position command sequence at which the auxiliary function command is read from the auxiliary function memory.

26. The method of claim 25 which includes the additional step, after the step of reading each auxiliary function command from the auxiliary function memory, of executing the auxiliary function called for by each auxiliary function command.

27. A method of storing a program for concurrently (a) driving a work robot having at least one articulated link under closed loop servo control and (b) executing at least one auxiliary function not related to the robot link in which the program is made up of a sequence of link position commands interleaved with auxiliary function commands, comprising the steps of:

loading an auxiliary function memory with auxiliary function commands so that the commands can subsequently be read from the auxiliary function memory during a training session in a desired order;

manually manipulating a robot simulator during the training session to produce a sequence of robot link position commands;

manually operating an auxiliary function command sequence switch for effecting the reading of each auxiliary function command, in order, from the auxiliary function memory during the training session; and

storing the sequence of link position commands produced by the manipulation of the robot simulator interleaved with the auxiliary function commands read from the auxiliary function memory, with each auxiliary function command being stored at a point in the sequence of link position commands correlated to the point in the link command sequence at which the sequence switch is manually operated.

28. The method of claim 27 which includes the additional step, after the step of manually operating the auxiliary function command sequence switch, of executing the auxiliary function called for by each auxiliary function command read from the auxiliary function memory, the point in the sequence of link position commands at which the auxiliary function is executed being correlated to the point in the link command sequence at which the auxiliary function command sequence switch is manually operated.

29. A method of storing a program for concurrently (a) driving a work robot having a plurality of articulated links under closed loop servo control to perform work upon a work piece and (b) executing a number of auxiliary functions not related to the articulated robot links, in which the program is made up of a sequence of link position commands used to control the articulated robot links interleaved with auxiliary function commands used to control the execution of the auxiliary functions, comprising the steps of:

loading an auxiliary function memory with auxiliary function commands so that the commands can be read from the auxiliary function memory in a desired order during a training session in which the work robot program is stored;

manually manipulating a robot simulator made up of a plurality of articulated links corresponding to those of the work robot to produce a sequence of robot link position commands during a training session;

manually operating an auxiliary function command sequence switch during the training session to effect the reading of each auxiliary function command, in order, from the auxiliary function memory;

executing the auxiliary function called for by each auxiliary function command read from the auxiliary function memory at a point in the sequence of link position commands correlated to the point in the link command sequence at which the sequence switch is manually operated; and

storing the sequence of link position commands produced by the simulator interleaved with the auxiliary function commands read from the auxiliary function memory to thereby store a program for the work robot, each auxiliary function command being stored at a point in the link position command sequence correlated to the point in the link command sequence at which the sequence switch was manually operated.

30. The method of claim 29 in which the step of executing the auxiliary function called for by each auxiliary function command read from the auxiliary function memory comprises reading the condition of an auxiliary input from an auxiliary input device associated with the work piece operated upon by the work robot.

31. The method of claim 29 in which the step of executing the auxiliary function called for by each auxiliary function command read from the auxiliary function memory comprises producing an auxiliary function output signal for activating an auxiliary output device associated with the work robot and the work piece.

32. The method of claim 31 in which the step of executing the auxiliary function called for by each auxiliary function command written from the auxiliary function memory comprises producing an auxiliary function output signal for actuating an auxiliary output device to alter the orientation of the work piece relative to the work robot.