Robot controller

• US 20060149421A1
• Filed: 12/20/2005
• Published: 07/06/2006
• Est. Priority Date: 12/21/2004
• Status: Abandoned Application

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Akiyama, Kazuhiko, Kobayashi, Hirohiko
• Application Number:
  US11/311,351
• Publication Number:
  US 20060149421A1
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G05B 2219/40431 Grid of preoptimised paths as function of target position, choose closest, fine adapt
• CPC Class Codes: G05B 2219/40564 Recognize shape, contour of object, extract position and orientation
• CPC Class Codes: G05B 2219/45063 Pick and place manipulator

Abstract

A robot controller is disclosed in which a specific target position is predetermined in order to define approaching and leaving paths for a robot hand, and a plurality of different path patterns are stored in a path pattern storage means as the approaching and leaving paths along which the robot hand approaches and leaves the predetermined specific target position. Next, based on a workpiece position detected by a visual sensor, one of the path patterns stored in the path pattern storage means is selected, and the selected path pattern is modified so that the target position of the robot hand is coincident with the actual workpiece position. The modified path pattern is defined as revised approaching and leaving paths and the robot hand is moved along the revised approaching and leaving paths.

Claims

1. A robot controller for correcting a target position of a robot hand based on a position of a workpiece detected by a visual sensor to thereby move said robot hand toward or away from said workpiece (W), comprising:

a path pattern storage means for storing a plurality of path patterns including an approaching path along which said robot hand approaches a specific target position and a leaving path along which said robot hand leaves the specific target position, said specific target position being predetermined in order to define the approaching path and the leaving path for said robot hand,

wherein said robot controller selects one of the plurality of path patterns stored in said path pattern storage means, based on the position of said workpiece detected by said visual sensor, modifies the selected path pattern so that the target position of said robot hand is coincident with the position of the workpiece detected by said visual sensor, defining the modified path pattern as revised approaching and leaving paths, and moves said robot hand along the revised approaching path and leaving paths.

2. The robot controller according to claim 1, defining, as the revised approaching path and the revised leaving path, the selected path pattern moved in parallel so that the target position of said robot hand is coincident with the position of the workpiece detected by said visual sensor.

3. The robot controller according to claim 1, wherein a range in which said workpiece is allowed to be placed is divided into a plurality of areas, and the path pattern is selected depending on in which of the plurality of areas the position of said workpiece detected by said visual sensor is included.

4. The robot controller according to claim 1, wherein the approaching path and the leaving path for one workpiece are identical.

5. The robot controller according to claim 1, wherein when at least one of the coordinate values of the position of said workpiece detected by said visual sensor exceeds a predetermined threshold value, said robot controller issues an alarm and stops an operation of said robot hand.

6. The robot controller according to claim 1, wherein the approaching path and the leaving path are defined by designating a start point and an end point and connecting the designated starting and end points by interpolation.

7. The robot controller according to claim 1, wherein the approaching path and the leaving path are defined by designating a start point, an end point and at least one via-point between the start point and the end point and connecting the designated points by interpolation.

8. The robot controller according to claim 1, wherein the position of said workpiece detected by said visual sensor is represented as a position of said workpiece relative to a predetermined reference position.