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Control method and control apparatus for a robot with sensor

  • US 5,467,003 A
  • Filed: 01/12/1995
  • Issued: 11/14/1995
  • Est. Priority Date: 05/12/1993
  • Status: Expired due to Term
First Claim
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1. A control method for a robot with sensor means, comprising the steps of:

  • (a) obtaining sensed data by detecting an operation line position in a region on the travel direction side of a tool supported by a robot;

    (b) converting said sensed data into coordinate data representing said operation line position on a coordinate system set in the robot;

    (c) obtaining processed data by processing said coordinate data converted in said step (b), using data of a taught path segment relating to said region being for detection among path data taught in advance;

    (d) storing said processed data obtained in said step (c) in memory means;

    (e) reading at least part of the data stored in said step (d), and preparing correction data for correcting said taught path, when said tool approaches a point just before said detected operation line position; and

    (f) correcting said taught path data based on said correction data to generate a control output for moving said tool toward a target position.

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