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Robot controlling system

  • US 4,659,971 A
  • Filed: 08/16/1985
  • Issued: 04/21/1987
  • Est. Priority Date: 08/16/1984
  • Status: Expired due to Term
First Claim
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1. In a robot controlling system at least having means for locating a hand at an arbitrary point along a plane, means for turning said hand in an arbitrary direction about an axis vertical to said plane, and means for actuating said hand according to a hand position coordinate and a hand direction angle stored in a RAM based on a robot absolute coordinate system and a programmed sequence, the improvement comprising:

  • means defining one local coordinate system according to a plurality of reference points in the robot absolute coordinate system;

    means for storing a hand position coordinate of said local coordinate system and a hand direction angle relative to a coordinate standard axis of said local coordinate system at each operating position of the hand;

    means for transforming said hand position coordinate of said local coordinate system to said hand position coordinate of the robot absolute coordinate system; and

    means for correcting the hand direction angle relative to the coordinate standard axis of said local coordinate system by an angular displacement of the coordinate standard axis of said local coordinate system relative to a coordinate standard axis of the robot absolute coordinate system.

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