Method and apparatus for controlling tracking path of working point of industrial robot

• US 4,954,762 A
• Filed: 01/30/1990
• Issued: 09/04/1990
• Est. Priority Date: 02/01/1989
• Status: Expired due to Term

• Current Assignee: Industrial Equipment Systems Co., Ltd.
• Original Assignee: Hitachi Keiyo Engineering Company Limited, Hitachi, Ltd.
• Inventors: Miyake, Norihisa, Sarugaku, Shinichi, Sumita, Masaki
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): Ip, Paul
• Application Number:
  US07/472,082
• Time in Patent Office: 217 Days
• Field of Search: 318/560-640, 364/474, 364/28, 364/474.35, 364/513, 901/14-24, 219/124, 219/34, 219/125.12
• US Class Current: 318/568.19
• CPC Class Codes: G05B 19/4182 manipulators and conveyor only
• CPC Class Codes: G05B 2219/39063 Quick calculation of coordinates by using precalculated, stored matrixes, inverses
• CPC Class Codes: G05B 2219/39101 Cooperation with one or more rotating workpiece holders, manipulators
• CPC Class Codes: G05B 2219/50353 Tool, probe inclination, orientation to surface, posture, attitude
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A method and apparatus for controlling the tracking path of a working element so that the working element moves along a path having a predetermined positional relationship with a working object by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element. The method and apparatus allot individual coordinate systems each having a discriminator to the working element, the working object and the moving elements to provide coordinate systems with the corresponding discriminators, set as a coordinate system expressing the data for controlling the movement of the working element a first coordinate system selected from the coordinate systems, describe, using a second coordinate system selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points on the tracking path along which the working element is to move on the basis of a prescribed working schedule, store these data together with the discriminators representative of the corresponding coordinate systems, decide in executing a real work if or not the first coordinate system and the second coordinate system are the same from their discriminators, and, if both coordinate systems are different coordinate systems, converts the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system, and control the movement of the working element on the basis of the converted data.

Claims

1. A method for controlling a tracking path of a working element so that the working element moves along a path having a predetermined positional relationship with a working object by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element each being operatively coupled with either the working element or the working object in a prescribed coupling condition, comprising the steps of:

allotting individual coordinate systems each having a discriminator to said working element, said working object and said moving elements to provide the coordinate systems with the corresponding discriminators;

setting as a coordinate system expressing the data for controlling the movement of said working element a first coordinate system selected from said coordinate systems;

describing, using a second coordinate system selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points on the tracking path along which said working element is to move on the basis of a prescribed working schedule to store the data together with the discriminator representative of the corresponding coordinate system;

deciding in executing a real work if or not said first coordinate system and said second coordinate system are the same from their discriminator; and

if both coordinate systems are different coordinate systems, converting the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system and controlling the movement of said working element on the basis of the converted data.

2. A method according to claim 1, wherein said first coordinate system is fixed to said working element, and said second coordinate system is fixed to said working object.

3. A method for controlling the tracking path of a working element of an industrial robot so that the working element moves along a path having a predetermined positional relationship with a prescribed working object, wherein the relative positional relationship between the working element and the working object varies in accordance with the movement of plural individually movable at least one moving element each being operatively coupled with either the working element or the working object in a prescribed coupling condition, said method comprising the steps of:

allotting individual coordinate systems each having a discriminator to said working element, said working object and said moving elements to provide the coordinate systems with the corresponding discriminators;

setting as a coordinate system expressing the data for controlling the movement of said working element a first coordinate system selected from said coordinate systems;

describing, using a second coordinate system selected from the coordinate systems, the data representing the positions of the working element corresponding to at least specific points on the tracking path along which said working element is to move on the basis of a prescribed working schedule to store the data together with the discriminator representative of the corresponding coordinate system;

deciding prior to executing a real work if or not said first coordinate system and said second coordinate system are the same from their discriminators;

if both coordinate systems are different coordinate systems, converting the position data of the working element corresponding to the specific point into the data expressed in the first cordinate system; and

controlling the movement of said working element on the basis of the converted position data corresponding to said at least two specific points.

4. A method according to claim 3, further comprising the step of, after having converted the position data corresponding to said specific points into that expressed by said first coordinate system, calculating the data at at least one intermediate point on the tracking path between the two specific points, which is expressed by said first coordinate system, from the converted position data at said two specific points.

5. A method according to claim 4, wherein the conversion from the position data at the specific point expressed by said second coordinate system to that expressed by said first coordinate system is carried out using a conversion matrix between said coordinate systems which is defined by the relative positional relationship between said moving elements.

6. A method according to claim 5, wherein stored as the conversion matrix between said coordinate systems are a conversion matrix at a work teaching time which is obtained from the relative positional relationship among the coordinate systems at the work teaching time when the positional data of said working point corresponding to said specific points is obtained prior to executing said actual work, a conversion matrix at an actual work starting time which is obtained from the relative positional relationship among the coordinate systems at the actual work starting time, and a conversion matrix at a current time which is sequentially updated in accordance with the position change of the coordinate systems due to the movement of said moving elements, they are selected in accordance with the time when the data to be converted is acquired.

7. A method according to claim 3, further comprising the step of providing a sensor for monitoring the position of said working object to detect position error of said working object, converting the data indicative of the position error expressed by a sensor coordinate system fixed to said sensor into data expressed by said second coordinate system and modifying the position data of said working object expressed by said second coordinate system using the converted position error data of said working object.

8. A method according to claim 3, wherein said working point is a working tool attached to said robot, and a tool visual sensor for monitoring position error of said working tool to detect position error of said working tool is attached to said robot, further comprising the step of converting the data indicative of the position error expressed by a tool sensor coordinate system fixed to said tool visual sensor into data expressed by said second coordinate system and modifying the position data of said working point expressed by said second coordinate system using the converted position error data of said working object.

9. An apparatus for controlling a tracking path of a working point of an industrial robot so that the working point moves along a path having a predetermined positional relationship with a prescribed working object, wherein the relative positional relationship between the working element and the working object varies in accordance with the movement of individually movable at least one moving element, each being operatively coupled with either the working element or the working object in a prescribed coupling condition, said apparatus comprising discriminators for discriminating individual coordinate systems allotted to said working element, said working object and said plural moving elements;

means for controlling the movement of said working point on the basis of data expressed by a first coordinate system selected from said coordinate systems;

means for storing the discriminator selected as said first coordinate system;

means for describing, using a second coordinate system selected from the coordinate systems, the data representing the positions of the working element corresponding to at least specific points on the tracking path along which said working element is to move on the basis of a prescribed working schedule to store the data together with the discriminator representative of the corresponding coordinate system;

means for deciding, prior to executing actual work, if or not said first coordinate system and said second coordinate system are the same from their discriminators;

means for converting, if both coordinate systems are different coordinate systems, the position data of the working element corresponding to the specific point into the data expressed in the first coordinate system; and

means for supplying to said means for controlling the movement of said working point said converted position data of said working point corresponding to said at least two specific points.