Robot control system
AssigneeFanuc Corporation
InventorsHajimu Inaba, Shinsuke Sakakibara
Life of this patent
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Abstract
A robot control system for teaching and operating a robot 13 on the basis of a rectangular coordinate system, the robot having an arm which operates on the basis of a cylindrical coordinate system. Provided are a teaching device 101 for providing instructions in the rectangular coordinate system in order to teach the operations performed by the robot 13, a rectangular-to-cylindrical conversion device 104 or 202 for converting the instructions in the rectangular coordinate system from the teaching device 101 into command data in the cylindrical coordinate system, and a data memory 108 for storing the acquired command data in the cylindrical coordinate system.
Claims9
A robot control system, comprising:
- a robot having a hand which operates on the basis of a cylindrical coordinate system, where said robot operates upon receiving robot command data in a cylindrical coordinate system;
- a robot control device, operatively connected to said robot, having data memory for storing the robot command data for the cylindrical coordinate system, where said robot control device provides said robot with the robot command data;
- teaching means for providing instructions on the basis of a rectangular coordinate system for teaching the actions of said robot;
- rectangular-to-cylindrical coordinate conversion means, operatively connected to said teaching means and said robot control device, for converting the instructions in the rectangular coordinate system from said teaching means into robot command data in the cylindrical coordinate system;
- and
- coordinate conversion means, operatively connected to the data memory, for converting the robot command data with an origin into different robot command data with a different origin, where in order to use the robot command data at a position with an origin different from the origin of said rectangular coordinate system as the basis of a teaching operation, said coordinate conversion means converts the robot command data in the data memory into the different robot command data depending upon a difference between cylindrical coordinate values of both origins.
Dependencies are inferred from the claim text.