Robot control apparatus
AssigneeMitsubishi Denki Kabushiki Kaisha
InventorAtsushi Itoh
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Abstract
An apparatus for controlling a robot having multi-articulation-type arms with a high accuracy. Work point data and work point instructions for the robot are stored in a main storage section, while data representing the present position of an operating end of the arm of the robot is stored in a present point storage section. Reference position data is stored in a reference point storage section. A central processing unit produces a signal for instructing the robot to effect predetermined operations on the basis of the work point data, the work procedure instructions, the present position data, and the reference point data. A correction section determines a deviation of the operating end of the robot from positional data corresponding to the present position and corrects the stored positional data on the basis of the determined deviation.
Claims11
An apparatus for controlling a robot having a plurality of arms of the multiarticulation type, comprising:
- a main storage section for storing work point data and work procedure instructions for said robot;
- a present point storage section for storing present angular position data of each of said plurality of arms of said robot;
- a reference point storage section for storing reference angular position data for each of said plurality of arms of said robot when said robot is actuated;
- a central processing unit for producing a signal for instructing said robot to effect predetermined operations on the basis of said work point data, said work procedure instructions, said present angular position data, and said reference angular position data;
- and
- a correction section for determining an angular deviation of an actual position of each of said plurality of arms from angular positional data corresponding to a present angular position to thereby correct said stored angular positional data on the basis of the determined angular deviation, whereby correction of said stored angular positional data is achieved without use of additional physical structure.
Dependencies are inferred from the claim text.