Multi-joint-robot controller for enabling detection of the spatial relationship between a robot and a rotary cable

• US 4,831,547 A
• Filed: 04/29/1988
• Issued: 05/16/1989
• Est. Priority Date: 06/06/1985
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Itou, Yoshizumi, Shiroshita, Osamu, Ishiguro, Yasuo
• Primary Examiner(s): Ruggiero, Joseph
• Application Number:
  US07/188,668
• Time in Patent Office: 382 Days
• Field of Search: 364/191-193, 364/513, 364/474.36, 364/478, 901/3, 901/4, 901/6, 901/15, 901/46, 901/47, 901/9, 318/568, 414/730
• US Class Current: 700/247
• CPC Class Codes: B25J 9/0096 co-operating with a working support, e.g. work-table
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: G05B 19/4083 Adapting programme, configuration
• CPC Class Codes: G05B 2219/33263 Conversion, transformation of coordinates, cartesian or polar
• CPC Class Codes: G05B 2219/36503 Adapt program to real coordinates, software orientation
• CPC Class Codes: G05B 2219/45083 Manipulators, robot

Abstract

Synchronous operation of a multi-joint robot and a rotating table is facilitated by the provision of a multi-joint robot controller. The robot controller detects the position of an arm of the multi-joint robot relative to a coordinate system assigned to the multijoint robot and the position of a specific point on the rotating table relative to the same coordinate system. The spatial relationship of the table relative to the multi-joint robot is calculated based on the coordinates of a plurality of positions of the specific point on the rotating table.

Claims

1. A multi-joint robot controller (RC) for performing predetermined tasks by operating, in cooperation, a multi-joint-robot (R) and a rotary table (T), comprising:

position detection means (C1) for detecting a position of an arm (RA) of the multi-joint robot (R) as coordinates of a robot assigned coordinate system (O-XYZ) assigned to the multijoint robot (R);

specific point detection means (C2) for detecting coordinates of a specific point (TA) on the rotary table (T) in the robot assigned coordinate system (O-XYZ) at three or more different positions occupied by said specific point, said specific point occupying different positions by virtue of rotation of said rotary table, said coordinates being detected by the position detection means (C1); and

table attitude calculation means (C3) for calculating a center of rotation and an attitude of rotation of the rotary table (T) in the robot assigned coordinate system (O-XYZ) from said coordinates.

2. The multi-joint robot controller (RC) as claimed in claim 1, wherein the position and attitude of the rotary table (T) calculated by said table attitude calculation means (C3) is stored as a transformation matrix (U) for transforming from a table assigned coordinate system (O1-X1Y1Z1) to the robot assigned coordinate system (O-XYZ).

3. The multi-joint robot controller (RC) as claimed in claim 1, wherein the attitude of the rotary table (T) is represented by a center of rotation and an inclination of the axis of rotation of the rotary table (T).

4. The multi-joint robot controller (RC) as claimed in claim 1, wherein the position detection means (C1) detects the position of the arm of the robot from every rotating angle of the joints of the multi-joint robot.

5. The multi-joint robot controller (RC) as claimed in claim 1, wherein the position detection means (C1) detects the position of the arm of the robot from every driving signal outputted to serve systems of the multi-joint robot.

6. The multi-joint robot controller (RC) as claimed in claim 1, wherein the multi-joint robot controller (RC) operates a multi-joint robot (R) and a plurality of rotary tables (T), in cooperation, and the table attitude calculation means (C3) calculates every attitude of the tables (T).