Control method and control apparatus for a robot with sensor
First Claim
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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Abstract
A control method and a control apparatus for a robot, in which an operation line position is detected by a sensor, and real-time tracking of the operation line is performed by correcting a taught path with the use of an output signal from the sensor. The weld line position in a region on the travel direction side is sensed by the sensor supported by a robot hand to obtain the position data of sensed point kSm. After the sensed data is converted into coordinate data s(k, m) of a work coordinate system, processing is performed by using data of taught path segment PkPk 1 to which the sensed point kSm belongs. The processed data is stored in a buffer memory of ring memory type together with the coordinate data of the sensed point. The necessary data is read from the buffer memory just before the execution of tracking, to determine the tracking target point in a short period of time. The correction amount of interpolation point or taught point is calculated, and a control output for each axis is generated and sent to a servo control system to move the robot towards the tracking target point.
49 Citations
10 Claims
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1. A control method for a robot with sensor means, comprising the steps of:
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(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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2. A control method for a robot with sensor means according to claim 1, wherein said step (c) includes a step for executing at least part of calculation required for preparing said correction data based on the coordinate data obtained in said step (b).
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3. A control method for a robot with sensor means according to claim 2, wherein said processed data includes a passage factor of a point at which a perpendicular drawn from a point representing said detected operation line position to a straight line defined by the data relating to said taught path segment intersects said straight line within said taught path segment.
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4. A control method for a robot with sensor means according to claim 3, wherein said processed data further includes data representing a straight line connecting two adjacent points representing said detected operation line position.
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5. A control method for a robot with sensor means according to claim 1, wherein said operation line comprises a weld line, and said step (a) includes a step for detecting a weld line by using said sensor means.
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6. A control apparatus for a robot, comprising:
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sensor means for detecting an operation line position in a region on the travel direction side of a tool supported by a robot to obtain sensed data; means for converting said sensed data into coordinate data representing said operation line position on a coordinate system set on the robot; processing means for processing said converted coordinate data, using data of a taught path segment relating to said region for detection among taught path data taught in advance; memory means for storing said processed data; means for reading at least part of the data stored in said memory means and preparing correction data for correcting said taught path when said tool approaches a point just before said detected operation line position; and means for 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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7. A control apparatus for a robot according to claim 1, wherein said processing means executes at least part of calculation required for preparing said correction data based on said coordinate data.
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8. A control apparatus for a robot according to claim 7, wherein said processed data includes a passage factor of a point at which a perpendicular drawn from a point representing said operation line position to a straight line defined by the data relating to said taught path segment intersects said straight line within said taught path segment.
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9. A control apparatus for a robot according to claim 8, wherein said processed data further includes data representing a straight line connecting two adjacent points representing said operation line position.
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10. A control apparatus for a robot according to claim 6, wherein said operation line comprises a weld line, and said sensor means detects said weld line.
Specification