Robot locus control system

• US 4,495,588 A
• Filed: 03/18/1982
• Issued: 01/22/1985
• Est. Priority Date: 03/26/1981
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Yaskawa Denki Seisakusho
• Original Assignee: Kabushiki Kaisha Yaskawa Denki Seisakusho
• Inventors: Fujii, Hajime, Sato, Shinobu, Nio, Satoru, Hamashima, Toyoji
• Primary Examiner(s): Smith, Jerry
• Assistant Examiner(s): MACDONALD, ALLEN R
• Application Number:
  US06/359,548
• Time in Patent Office: 1,041 Days
• Field of Search: 318/568, 364/191, 364/192, 364/478, 364/513, 901/2, 901/3
• US Class Current: 700/251
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 19/4083 Adapting programme, configuration
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 2219/36503 Adapt program to real coordinates, software orientation
• CPC Class Codes: G05B 2219/45135 Welding

Abstract

In a robot locus control metod, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working locus.

Claims

1. A method for robot arm locus control comprising the steps of:

a. teaching the robot coordinates of a first three representative points and first work points of an object to be worked on by the robot;

b. teaching the robot coordinates of a second three representative points of the object when a change in the relative position of the robot and the object occurs, said second representative points corresponding to said first representative points;

c. calculating coordinates of second work points from data representative of the relative positions of said first representative points and first work points and said second representative points, so that said second work points define a locus at a position different than that of said first work points, said second work points corresponding to said first work points;

d. using said coordinates of said second work points to provide commands for the robot; and

e. controlling the robot to follow said commands.

2. The method of claim 1 in which said locus at said different position is congruent to a locus defined by said first work points.

3. The method of claim 1 in which said locus at said different position is a mirror image of a locus defined by said first work points.

4. The method of claim 1 in which said locus at said different position corresponds to a locus defined by said first work points but is longitudinally displaced therefrom.

5. The method of claim 1 in which said locus at said different position corresponds to a locus defined by said first work points but is rotationally displaced therefrom.

6. The method of claim 1 in which said locus at said different position corresponds to a locus defined by said first work points but is rotationally and longitudinally displaced therefrom.

7. The method of claim 1 in which the first three representative points are defined independently of geometric configuration of the object and the work points.

8. The method of claim 1 in which the robot has a wrist movable with respect to a wrist axis, the method further comprising the step of:

adding correcting values to values representative of a first posture of the wrist axes at said first work points to obtain a second posture of said wrist axis at said second work points.

9. The method of claim 8 in which posture of the wrist with respect to the object is maintained constant when the object is moved with respect to the robot.

10. The method of claim 1 in which the robot has a wrist movable with respect to a wrist axis, the method further comprising the step of controlling said wrist axis on a slave job so that an angle between an axis of a torch and a line connecting one representative point to a work point in a slave job is equal to an angle between the axis of said torch and a line connecting one corresponding representative point to a corresponding work point in a master job.

11. The method of claim 1, further comprising the steps of:

a. storing in a microprogram memory microprograms necessary for arithmetic operations,

b. buffering said microprogram memory by using a pipe line register;

c. controlling an execution sequence of microinstructions stored in said microprogram memory with a sequence controller;

d. executing operation instructions specified by said microprograms from said pipe line register by using a register and arithmetic logical unit including a logic and arithmetic operation unit (RALU) and a programmable register;

e. applying, through a multiplexer, in response to control instructions from said pipe line register, test conditions of a RALU status outputted by said register and arithmetic logical unit to said sequence controller;

f. using a microprocessor for transferring coordinate data of said representative points from a memory of said microprocessor to a first register and for outputting a macrocommand to said sequence controller in response to an arithmetic unit status from said pipe line register;

g. storing shifted coordinate data in a plurality of additional registers;

h. transferring the shifted coordinate data to said RALU; and

i. applying a jump address generated by said pipe line register to said sequence controller when a change of sequence of execution of said microinstructions stored in said microprogram memory is required.

12. A method for robot arm locus control comprising the steps of:

a. providing to the robot numerical values of coordinate data of first work points and a first three representative points of an object to be worked on by the robot;

b. providing to the robot values of coordinate data of a second three representative points of the object when robot trajectory based on numerical coordinate data of the first work points deviates from actual work lines of the object, said second three representative points corresponding to said first three representative points;

c. calculating values of second work point coordinate data from relative positions of said first three representative points, said first work points and said second representative points, said second work points corresponding to said first work points;

d. using values of said second work point coordinate data to provide commands for the robot; and

e. controlling the robot to follow said commands.