Point measuring process for preset robot

• US 4,595,989 A
• Filed: 09/23/1982
• Issued: 06/17/1986
• Est. Priority Date: 10/05/1981
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Sankyo Seiki Seisakusho
• Original Assignee: Kabushiki Kaisha Sankyo Seiki Seisakusho
• Inventors: Hayashi, Yoshio, Yasukawa, Kazuyoshi
• Primary Examiner(s): Smith, Jerry
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US06/422,507
• Time in Patent Office: 1,363 Days
• Field of Search: 318/562, 318/568, 364/513, 364/474, 364/478, 364/191, 364/192, 364/193, 364/174, 364/177, 901/3, 901/4, 901/5
• US Class Current: 700/254
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• CPC Class Codes: G05B 2219/33263 Conversion, transformation of coordinates, cartesian or polar
• CPC Class Codes: G05B 2219/35354 Polar coordinates, turntable
• CPC Class Codes: G05B 2219/36043 Correction or modification of program
• CPC Class Codes: G05B 2219/36159 Detachable or portable programming unit, display, pc, pda

Abstract

A process for controlling an industrial robot in which most data for controlling the robot can be supplied using a preset process without moving the robot and only data for regions in which very precise control is required need be prepared by actually moving the robot. A programming unit is provided separate from but connectable to a robot control unit. The programming unit is used to compile and transfer completed programs to the robot control unit for controlling the movements of the robot. To program the robot control unit, the programming unit and robot control unit are connected as an on-line system. Then, data describing a desired path of movement is inputted to the programming unit as a series of coordinates in Cartesian form. In regions where very precise control is required, the coordinates describing the desired path of movement are corrected using small corrective motions of the robot. The inputted data and the corrected coordinates are displayed.

Claims

1. A method of programming a robot, said robot being of the type including:

a programming unit for generating a final program defining a movement path including a plurality of positions to which a robot element is to be moved, said programming unit including input means for operator input of coordinate data corresponding to said plurality of positions;

a robot control unit for storing said program and for providing said program as a control output for moving said robot element;

movement means for moving said robot element in accordance with said control output; and

sensing means for sensing the position of said robot element and for providing a position signal representing the coordinate data corresponding to the sensed position, said method comprising the steps of;

moving said robot element to at least one position desired as one of said plurality of positions;

generating via said sensing means a position signal representing the correct coordinate data corresponding to said at least one position; and

generating said final program using said correct coordinate data.

2. A method as defined in claim 1, wherein said method further comprises the step of generating an approximated program in said programming unit in accordance with coordinate data entered via said input means and representing a sequence of said plurality of positions, and wherein said step of generating said final program comprises substituting said corrected coordinate data for the approximated coordinate data corresponding to said at least one position in said approximated program, wherein said final program comprises a mixture of approximated and corrected coordinate data.

3. A method as defined in claim 1, further comprising the steps of loading said final program into said control unit and disconnecting said programming unit from said control unit.

4. A method as defined in claim 1, wherein said step of generating a position signal includes displaying said corrected coordinate data via said programming unit.

5. A method as defined in claim 1, further comprising the steps of generating a plurality of final programs in said programming unit, storing said plurality of final programs in said control unit and disconnecting said programming unit from said control unit.