Method and system for controlling drive of a robot

• US 6,816,754 B2
• Filed: 11/12/2002
• Issued: 11/09/2004
• Est. Priority Date: 05/17/2002
• Status: Active Grant

• Current Assignee: Giken Co., Ltd.
• Original Assignee: Giken Co., Ltd.
• Inventors: Mukai, Kazuo, Maruyama, Noboru, Ashihara, Saburo
• Primary Examiner(s): Black, Thomas C.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US10/291,395
• Publication Number:
  US 20030216833A1
• Time in Patent Office: 728 Days
• Field of Search: 700/245-247, 700/250, 700/253, 700/257, 700/94, 318/568.12, 318/568.13, 318/568.16, 318/577, 297/39, 297/43, 298/32, 298/34, 414/416.01
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G05B 2219/33192 Radio link, wireless
• CPC Class Codes: G05B 2219/33234 Detect bad data transfer
• CPC Class Codes: G05B 2219/40519 Motion, trajectory planning
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10T 29/4913 Assembling to base an electrical component, e.g., capacitor, etc.
• CPC Class Codes: Y10T 29/49133 with component orienting
• CPC Class Codes: Y10T 29/53174 Means to fasten electrical component to wiring board, base, or substrate
• CPC Class Codes: Y10T 29/53191 Means to apply vacuum directly to position or hold work part

Abstract

A method and system for controlling drive of a robot having two or more drive axes and driven in accordance with an action program transmitted from a system controller to a robot controller by a wireless transmission way, checks whether a detected current position of the robot coincides with a predetermined start position of the robot in terms of the drive axes, and allows the robot to be driven in accordance with the designated action program when the detected current position coincides with the predetermined start position. Failure in the position control of the robot due to transmission error is prevented by the position checking.

Claims

1. A method for controlling drive of a robot which has two or more drive axes and is driven in accordance with an action program, comprising the steps of:

receiving command data via a wireless transmission way;

detecting a current position of the robot in terms of the drive axes;

checking whether a detected current position coincides with a predetermined start position of the robot in terms of the drive axes, the predetermined start position being set in an action program designated by the command data; and

allowing the robot to be driven in accordance with the designated action program when the detected current position coincides with the predetermined start position.

2. The method according to claim 1, wherein the action program includes a plurality of motion segments, and the command data designates one of the plurality of motion segments of the action program, and the designated motion segment is initiated when the motion segment requires driving the robot in only one of the drive axes.

3. The method according to claim 2, wherein transmission of the same command data is subsequently performed at least two times, and the received command data is judged to be valid when the subsequently received command data are the same as each other.

4. The method according to claim 1, wherein transmission of the same command data is subsequently performed at least two times, and the received command data is judged to be valid when the subsequently received command data are the same as each other.

5. A system for controlling drive of a robot which has two or more drive axes and is driven in accordance with an action program, comprising:

a system controller for centrally controlling operations in connection with the system;

a robot controller which is carried by the robot, and is connected with the system controller by a wireless transmission way to receive command data from the system controller, the command data designating an action program for the robot; and

a detector which detects a current position of the robot in terms of the drive axes;

wherein the robot controller checks whether a detected current position coincides with a predetermined start position of the robot in terms of the drive axes, the predetermined start position being set in an action program designated by the command data; and

allows the robot to be driven in accordance with the designated action program when the detected current position coincides with the predetermined start position.

6. The system according to claim 5, wherein the action program includes a plurality of motion segments, and the command data designates one of the plurality of motion segments of the action program, and the robot controller allows the robot to be driven in accordance with the designated motion segment when the motion segment requires driving the robot in only one of the drive axes.

7. The system according to claim 6, wherein the robot controller notifies the system controller of completion of each motion segment of the designated action program.

8. The system according to claim 6, wherein the system controller performs transmission of the same command data to the robot controller subsequently at least two times, and the robot controller judges the received command data valid when the subsequently received command data are the same as each other.

9. The system according to claim 8, wherein the robot controller notifies the system controller of completion of each motion segment of the designated action program.

10. The system according to claim 5, wherein the system controller performs transmission of the same command data to the robot controller subsequently at least two times, and the robot controller judges the received command data valid when the subsequently received command data are the same as each other.

11. The system according to claim 5, wherein the robot controller notifies the system controller of completion of the designated action program.