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Database driven robot programming system and method

  • US 4,835,730 A
  • Filed: 02/27/1987
  • Issued: 05/30/1989
  • Est. Priority Date: 02/27/1987
  • Status: Expired due to Fees
First Claim
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1. A robotic assembly system, comprising:

  • a moveable member for moving specified objects from specified source locations to specified destinations within a specified workcell; and

    a controller, coupled to said moveable member, for controlling the movement of said moveable member, including;

    a set of primitive routines for controlling the operation of said moveable member while performing predefined tasks in accordance with specified parameters;

    a set of separate, interrelated data structures for storing data defining a robotic assembly sequence by separately denoting the tasks to be performed, data defining the relative positions of the set of locations which define said workcell, and data defining how each said task is to be performed, said data structures including;

    at least one location database for defining the locations to be used in said assembly sequence, including means for storing parameter values, for each of at least a multiplicity of said locations, which govern how said moveable member moves when moving to each said location;

    at least one part database for defining the objects to be moved by said system, including means for storing data defining for each said object at least one potential source location, and at least one parameter which specifies one of said primitive routines for use when moving said object; and

    at least one sequence database for specifying the sequence of tasks to be performed in said assembly sequence, including a multiplicity of records, each record storing data specifiying an object in said part database, and a location in said location database to which said object is to be moved; and

    movement directing means, coupled to said primitive routines and said interrelated data structures, for reading the data stored in said location, part and sequence databases and for executing said primitive routines in a sequence and using parameters specified in corresponding ones of said databases;

    whereby the data in said databases collectively specify the operation of said moveable member.

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