Method and system for controlling robot for constructing products

• US 4,835,450 A
• Filed: 05/19/1988
• Issued: 05/30/1989
• Est. Priority Date: 05/21/1987
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Suzuki, Tetsuo
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): Bergmann, Saul M.
• Application Number:
  US07/196,062
• Time in Patent Office: 376 Days
• Field of Search: 318/568, 901/9, 901/14, 901/45, 901/47, 364/478, 414/730
• US Class Current: 318/568.13
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023

Abstract

A 3-dimensional form of a sample product constituted by a plurality of parts having known forms is measured by imaging the sample product from a plurality of directions. Arrangement data representing the 3-dimensional positions and orientations of the parts constituting the sample product are obtained, by a construction detecting module, on the basis of the measured 3-dimensional form of the sample product. A task planning module sets a task for moving a part to be used for constructing a product and the sequence of the task by using arrangement data acquired by the construction detecting module. Upon generation of motion command data for controlling a robot for constructing the product in accordance with the task set by the task planning module, the generated motion command is output to a motion control module. The construction robot is controlled by the motion control module, whereby a product the same as the sample product is constructed.

Claims

1. A method for controlling a robot for constructing a subject product having the same construction as that of a sample product constituted by a plurality of sample parts having known forms, the method comprising the steps of:

measuring a 3-dimensional form of the sample product by imaging the sample product from a plurality of directions;

detecting the construction of the sample product from the measured 3-dimensional form of the sample product and forms of the sample parts constituting the sample product, thereby acquiring arrangement data of the sample product;

setting a task for moving a subject part to a position represented by the arrangement data, used for constructing the subject product;

setting a task sequence of the task for constructing the subject product;

generating motion command data for controlling the robot in accordance with the set task sequence; and

controlling the robot in accordance with the generated motion command data.

2. A method according to claim 1, wherein the arrangement data of the sample product includes 3-dimensional position data of the sample parts constituting the sample product and orientation data at corresponding 3-dimensional positions.

3. A method according to claim 1, wherein the data representing the forms of the sample parts are prestored so as to be compared with the data representing the 3-dimensional forms of the measured sample product.

4. A system for controlling a robot for constructing a subject product having the same arrangement as that of a sample product constituted by a plurality of sample parts having known forms, the system comprising:

3-dimensional form measuring means for measuring a 3-dimensional form of the sample product by imaging the sample product from a plurality of directions;

construction detecting means for detecting the construction of the sample product from the 3-dimensional form of the sample product measured by said 3-dimensional form measuring means and forms of the sample parts constituting the sample product, and for acquiring arrangement data of the sample product;

task setting means for setting a task for moving a subject part, used for constructing the subject product, to a position represented by the arrangement data acquired by said construction detecting means;

task sequence setting means for setting a task sequence of the task set by said task setting means;

generating means for generating motion command data for controlling the robot in accordance with the task sequence set by said task sequence setting means; and

controlling means for controlling the robot in accordance with the motion command data generated by said generating means.

5. A system according to claim 4, wherein the arrangement data of the sample parts, obtained by said construction detecting means, includes 3-dimensional position data of the sample parts constituting the sample product and orientation data at corresponding 3-dimensional positions.

6. A system according to claim 4, wherein said construction detecting means includes part-form memory means for storing data representing the forms of the sample parts constituting the sample product.

7. A system according to claim 4, wherein the data representing the form off the sample product are prestored in said part-form memory means and compared with the data representing the 3-dimensional form of the sample product measured by said 3-dimensional form measuring means.