Method for controlling an industrial robot
First Claim
1. A method for controlling an industrial robot which sequentially works a plurality of substantially identical workpieces at working points thereof measured with respect to at least one reference point thereof, comprising the steps of:
- teaching provisional working points and at least one provisional reference point by sensing a portion of a first one of the workpieces and storing position data of said provisional working points and said provisional reference point;
determining a position of an actual reference point for another of said workpieces by sensing a portion of said other workpiece by a sensor attached to a hand of said industrial robot and determining by calculation a distance and direction from said provisional reference point to said actual reference point based on the stored data; and
determining actual working points of said other workpiece based on the stored data of said provisional working points and said distance and direction to move a working hand of said industrial robot to said actual working points.
1 Assignment
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Accused Products
Abstract
Dimensions of a plurality of works of the same specification are subtantially identical among the works. Thus, a teach work point on the work to be worked by an industrial robot and a teach reference point to specify the teach work point are taught to memory means of the industrial robot. In an automatic mode, an actual reference point on the work of the same specification is detected by a sensor and an actual work point of the work is determined based on a difference between the detected actual reference point and the teach reference point and the resulting actual work point is conveyed to the industrial robot.
41 Citations
8 Claims
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1. A method for controlling an industrial robot which sequentially works a plurality of substantially identical workpieces at working points thereof measured with respect to at least one reference point thereof, comprising the steps of:
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teaching provisional working points and at least one provisional reference point by sensing a portion of a first one of the workpieces and storing position data of said provisional working points and said provisional reference point; determining a position of an actual reference point for another of said workpieces by sensing a portion of said other workpiece by a sensor attached to a hand of said industrial robot and determining by calculation a distance and direction from said provisional reference point to said actual reference point based on the stored data; and determining actual working points of said other workpiece based on the stored data of said provisional working points and said distance and direction to move a working hand of said industrial robot to said actual working points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification