Real-time robot control system tracking based on a standard path

• US 5,006,999 A
• Filed: 03/31/1989
• Issued: 04/09/1991
• Est. Priority Date: 04/01/1988
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Toyota, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Koide, Mitsuo, Hayashi, Chisao, Ishiguro, Yasuo, Kuno, Toshitaka, Nakano, Masaru, Kato, Yoshito
• Primary Examiner(s): MacDonald, Allen R.
• Application Number:
  US07/331,318
• Time in Patent Office: 739 Days
• Field of Search: 364/513, 219/124.22, 219/124.31, 219/124.32, 219/124.33, 219/124.34, 219/125.1, 901/3, 901/42, 318/568.15
• US Class Current: 700/253
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• CPC Class Codes: G05B 2219/36417 Programmed coarse position, fine position by alignment, follow line, path adaptive

Abstract

This invention is a real-time tracking controller for a standard-path robot that detects a target point in advance, permitting higher-speed work. The robot uses both sensed data and previously taught data to accurately execute its task. Accurate control is obtained using target points corresponding to time intervals. Thus, even if the speed or path is changed during operation, accurate tracing is continuously executed.

Claims

1. A control system for an industrial robot that tracks a work-shape by moving on a standard path which is determined from position data previously stored in the system, and that has a hand with a tool and a work-shape sensor which is located a predetermined distance in front of the tool and that corrects deviations from the standard path in real-time while the tool is operating, the system comprising:

temporary storage means for receiving sensed data obtained when the tool operates, and for calculating and storing work-shape data using the sensed data;

interpolation determination means for selecting an interpolated point on the standard path as a target position for the tool;

selection means for generating a reference point corresponding to the interpolated point on the standard path, and for selecting the work-shape data that is closest to the reference point;

path correction means for generating target position and posture data for the tool based on the work-shape data from the selection means; and

robot control means for controlling the tool to trace a series of points corresponding to the target position and posture data from the path correction means.

2. A control system according to claim 1 in which the selection means comprises:

reference-line calculation means for calculating a reference line from either the work-shape data or the standard path;

projection means for projecting a predetermined projection-start point on the reference line; and

reference line selection means for selecting the work-shape data with the least distance between a projected point and a predetermined comparison point on the reference line.

3. A control system according to claim 2 in which the selection means includes means for determining the reference line from the work-shape data;

for determining the projection start point from the reference point that is an estimated tool position to be reached by the tool, the estimated tool position being estimated from the standard path and the path actually followed during operation; and

for determining the comparison point based on data from the work-shape sensor.

4. A control system according to claim 3 in which the selection means determines the reference line from any one of the group consisting of a vector connecting two adjacent sensed data, a vector connecting two sensed data at a predetermined interval, and a vector connecting the sensed data and tool-end data at the time when the sensed data is detected.

5. A control system according to claim 2 in which the selection means includes means for determining the reference line from the standard path;

for determining the projection-start point based on data from the work-shape sensor; and

for determining the comparison point from the reference point equivalent to the interpolated point on the standard path.

6. A control system according to claim 1 in which the selection means includes means for determining the reference point from the interpolated point on the standard path, and the selection means using the reference point for selecting the work-shape for correction.

7. A control system according to claim 1 in which the selection means includes means for determining the reference point from the terminal point of a vector where a starting point is a point on the standard path corresponding to the current tool position and the terminal point is the interpolated point on the standard path, when the starting point of the vector is the current tool position, and the selection means using the reference point for selecting the work-shape data for the correction.

8. A control system according to claim 1 in which the temporary storage means includes means for erasing the work-shape data prior to the work-shape data selected by the selection means.

9. A control system according to claim 1 in which the interpolation determination means includes means for reflecting working speed in the interpolated-point determination, the working speed being contained in the position data that produce the standard path.

10. A control system according to claim 1 in which the interpolation determination means includes means for reflecting a path change on the interpolated-point determination, the path change being contained in the position data that produce the standard path.

11. A control system according to claim 1 in which the work-shape sensor on the hand detects the distance between the sensor and the workpiece.

12. A control system according to claim 11 in which the work-shape sensor on the hand detects the direction of a normal vector of the work surface.

13. A control system according to claim 1 in which the work-shape sensor is an optical sensor of the non-contact type for detecting the distance between the sensor and the workpiece and the shape of the workpiece.

14. A control system according to claim 1 in which the system include means for providing the processing path for the workpiece, the position of the tool relative to the workpiece, and the working speed, and for making the standard path from the position data stored in advance during a teaching operation.