Method for generating a pattern by means of an industrial robot and industrial robot for carrying out the method
AssigneeASEA Aktiebolag
InventorLars Dahlstrom
Life of this patent
Estimating the term…
Abstract
An industrial robot (1-10) is arranged to position workpieces (OP) in a unidimensional or multidimensional pattern or to collect workpieces located in such a pattern. The robot is first controlled to a predetermined preliminary position (e.g. P'.sub.O) and thereafter to its final position in the pattern by way of sensing members (9). The preliminary position for a workpiece is calculated with the final position of an adjacent workpiece as the starting point. To this position is added a vector corresponding to the spacing of the pattern. The spacing is calculated as the difference between the coordinates for the final positions of two workpieces located adjacent to the workpiece in question.
Claims10
A method for handling workpieces (OP) with an industrial robot (1-10), which are arranged or are to be arranged in a pattern, wherein said robot is provided with sensing members (9) which are arranged to sense the position of the robot or of a workpiece carried by the robot relative to the workpieces positioned in the pattern, comprising the steps of,
- controlling the robot or a workpiece carried by the robot to adopt a predetermined preliminary position relative to workpieces already positioned in the pattern,
- utilizing said sensing members, controlling said robot or a workpiece carried thereby to assume a final position,
- storing said final position,
- utilizing said stored final position as a starting value, calculating the preliminary position of an adjacent workpiece in the pattern, and
- controlling said robot or a workpiece carried thereby to assume said calculated preliminary position.
An industrial robot (1-10) for handling workpieces (OP) which are to be arranged in or are arranged in a pattern, comprising,
- workpiece handling means (8, 9,),
- sensing members (9) for sensing the position of said workpiece handling means relative to workpieces placed in the pattern and for generating output signals corresponding thereto,
- control unit means for controlling the workpiece handling means or a workpiece carried thereby to a calculated preliminary position (P.sub.klm ') and thereafter, in dependence on said sensing means output signals (x.sub.a, y.sub.a, z.sub.z) to a final position (P.sub.klm),
- said control unit means including calculating means for utilizing said final position as a starting value for calculating the preliminary position of an adjacent workpiece in the pattern.
Dependencies are inferred from the claim text.