US 4,659,971 A · Robot controlling system

Abstract

A robot control system comprises a hand movable along a plane according to position command data determined based on an absolute coordinate system arranged along the plane, and rotatable around an axis vertical to the plane according to angular command data determined with respect to a base axis of the absolute coordinate system for working a workpiece at a certain working point thereof with a certain angular position of the hand. Input means inputs working point data representative of the working point in terms of a local coordinate system arranged on the workpiece, angular position data representative of the angular position of the hand at the working point determined with respect to a base axis of the local coordinate system, and position data of the workpiece located along the plane in terms of the absolute coordinate. Calculation means calculates the linear and angular displacements of the local coordinate system relative to the absolute coordinate system according to the position data of the workpiece provided by the input means. First transformation means transforms the local working point data provided by the input means to the absolute position command data according to the calculated linear and angular displacements. Second transformation means transforms the local angular position data provided by the input means to the absolute angular command data according to the calculated angular displacement.

Claims22

Dependent claims

In a robot controlling system at least having means for locating a hand at an arbitrary point along a plane, means for turning said hand in an arbitrary direction about an axis vertical to said plane, and means for actuating said hand according to a hand position coordinate and a hand direction angle stored in a RAM based on a robot absolute coordinate system and a programmed sequence, the improvement comprising:

means defining one local coordinate system according to a plurality of reference points in the robot absolute coordinate system;
means for storing a hand position coordinate of said local coordinate system and a hand direction angle relative to a coordinate standard axis of said local coordinate system at each operating position of the hand;
means for transforming said hand position coordinate of said local coordinate system to said hand position coordinate of the robot absolute coordinate system;
and
means for correcting the hand direction angle relative to the coordinate standard axis of said local coordinate system by an angular displacement of the coordinate standard axis of said local coordinate system relative to a coordinate standard axis of the robot absolute coordinate system.

2 more elements

A robot controlling system comprising:

a hand movable along a plane according to position command data determined based on an absolute coordinate system related to the plane, and rotatable around an axis vertical to the plane according to angular command data determined with respect to a base axis of the absolute coordinate system for working a workpiece at a certain working point thereof with a certain angular position of the hand;
input means for inputting working point data representative of the working point in terms of a local coordinate system related to the workpiece, angular position data representative of the angular position of the hand at the working point determined with respect to a base axis of the local coordinate system, and position data of the workpiece located along th plane in terms of the absolute coordinate;
calculation means for calculating linear and angular displacements of the local coordinate system relative to the absolute coordinate system according to the position data of the workpiece provided by the input means;
first transformation means for transforming the local working point data provided by the input means to absolute position command data according to the calculated linear and angular displacements;
second transformation means for transforming the local angular position data provided by the input means to absolute angular command data according to the calculated angular displacement;
and drive means for driving a hand to the working point and the angular position according to the absolute position and angular command data.

3 more elements

Dependencies are inferred from the claim text.

Robot controlling system

Life of this patent

Robot controlling system

Life of this patent

Abstract

Claims22