Robot control system

• US 4,571,694 A
• Filed: 08/26/1982
• Issued: 02/18/1986
• Est. Priority Date: 12/30/1980
• Status: Expired due to Term

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Sakakibara, Shinsuke, Nihei, Ryo, Inaba, Hajimu
• Primary Examiner(s): Smith, Jerry
• Assistant Examiner(s): MACDONALD, ALLEN R
• Application Number:
  US06/414,366
• Time in Patent Office: 1,272 Days
• Field of Search: 364/513, 364/192, 364/170, 901/9-13, 901/49, 901/46, 901/47, 901/30-35, 901/44, 901/45, 414/730, 414/735, 414/750, 318/568
• US Class Current: 700/253
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• 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 2219/40087 Align hand on workpiece to pick up workpiece, peg and hole
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The hand of a robot is moved from an instant position P₁ to a first command position P₂ to grip one of the workpiece W₁,W₂,W₃ placed at the first command position and conveys the same to a second command position P₃. A sensor is contacted by the workpiece when the hand takes an intermediate position Px on its way from the instant position P₁ to the first command position P₂, the robot control system stops the hand without delay or after travel of the hand over a predetermined distance and, after the travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P₃ neglecting the remaining stroke or movement between the stopping position and the first command position.

Claims

1. A robot control system for moving a robot relative to a workpiece, comprising:

a robot controller operatively connected to the robot;

a pulse distributor, operatively connected to said robot controller, for producing distribution pulses;

a servo circuit, operatively connected to said pulse distributor and the robot, for producing a movement signal;

a sensor, operatively connected to said robot controller, said pulse distributor and said servo circuit, for generating a stopping signal when the robot reaches a predetermined position relative to the workpiece, said pulse distributor and said servo circuit discontinuing the production of the distribution pulses and the movement signal, respectively, when the position signal is generated.

2. A robot control system for moving a robot relative to a workpiece, comprising:

a robot controller operatively connected to the robot;

a pulse distributor, operatively connected to said robot controller, for producing distribution pulses;

a servo circuit, operatively connected to said pulse distributor and the robot, for producing a movement signal;

a sensor for generating a position signal when the robot reaches a predetermined position relative to the workpiece; and

a gripping position arrival confirmation circuit, operatively connected to said sensor, said servo circuit, said pulse distributor, said robot controller and the robot, for generating a stopping signal at a predetermined time after the position signal is generated, said pulse distributor and said servo circuit discontinuing the production of the distribution pulses and the movement signal, respectively, when the stopping signal is generated.

3. A robot control signal according to claim 2, wherein said gripping position arrival confirmation circuit comprises:

a flip-flop connected to said sensor;

an AND gate connected to the robot;

a counter connected to said AND gate, said flip-flop, said servo circuit, said pulse distributor and said robot controller.