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US 4,420,812 AGranted
Teaching- playback robot
AssigneeTokico Ltd.
InventorsYoshimasa Ito, Junji Hashizume, Junichi Ikeda, Noriyuki Utsumi, Tessyu Naka
Life of this patent
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Abstract
A teaching-playback type robot is disclosed having a manipulator with a plurality of movable members connected to each other, a detector detecting the relative positions of the members, a switch for designating position signals from the detector upon a teaching operation, a memory for storing position signals from the detector, an interpolating arithmetic circuit for performing interpolating operation based on two position signals read out from memory upon playback operation.
Claims24
A robot, comprising:
- a manipulator having a plurality of movable members, each member connected to its adjacent member with a joint;
- means for detecting the relative positions of adjacent movable members with respect to each other at each of the joints;
- means for generating positional signals from the detecting means upon teaching operations;
- memory means for successively storing positional data produced from said positional signals;
- means for determining the number of interpolative positions between two of said positions based on two stored positional data entries which are read out from said memory means and for interpolating said determined number of positions between said successive two positions;
- and
- means for positioning each of the movable members of the manipulator referring to resulting values of the determining means and interpolating means as command values and based on the the positional signals from the detecting means as present values.
4 more elements
A manipulator apparatus, comprising:
- a manipulator having a plurality of swingable members, each member connected swingably to its adjacent member through a pivotable joint, and being provided with a tool on the free end thereof;
- means for detecting the relative angular positions between adjacent swingable members;
- means for generating angular positional signals issued from said detecting means upon teaching operation;
- means for calculating a distance between successive two positions of said tool from successive two groups of said angular positional signals generated by said generating means;
- means for comparing said distance calculated by said calculation means with a predetermined distance;
- means for determining the number of interpolative positions between said successive two positions by signals from said comparison means, and interpolating said determined number of positions between said successive two positions, on a straight line connecting said successive two positions;
- means for producing angular positional signals in relation to said interpolated position;
- memory means for successively storing said angular positional signals produced by said producing means;
- and
- means for positioning each of said swingable members in accordance with the angular positional signals read out from said memory means as command signals and angular positional signals issued from said detection means as present positional signals.
7 more elements
Dependencies are inferred from the claim text.