Robot control system
AssigneesHitachi, Ltd., Hitachi Keiyo Engineering Co., Ltd.
InventorAzusa Nishida
Life of this patent
Estimating the term…
Abstract
In a robot, an object to be controlled, e.g., a working tool mounted on a robot wrist is purposively moved in accordance with data taught in advance. In case the object is encountered with a shaping or mounting error, a correction is accordingly required. This requirement makes it necessary to generate a desired error vector so that the robot may be moved while correcting the taught data in accordance with that vector. The object can be moved in a manual mode with its location being fixed while changing its position. In case, however, the object is accompanied by the shaping error or the like, not only the position but the location is changed following the position changing operation. The error vector can be arithmetically determined from data concerning such locational change.
Claims10
A robot control system for controlling the location and position of an object to be controlled, which is fixed on a robot wrist, in accordance with data taught in advance, comprising:
- taught data memory means for storing the taught data;
- means for computing an error vector indicating an error in a wrist coordinate system corresponding to the positional error of said object with respect to said robot wrist;
- memory means for storing the computed error vector in said wrist coordinate system;
- command value computing means for computing a command value for a robot drive unit to correct said positional error concerning said object in accordance with the taught data of said taught data memory means and the error vector of said error vector memory means;
- and means for controlling said robot drive unit based on said command value.
A robot control method, for controlling the location and position of an object to be controlled, which is fixed on a robot wrist, in accordance with data taught in advance, comprising the steps of:
- storing the taught data;
- computing an error vector indicating an error in a wrist coordinate system corresponding to the positional error of the object with respect to the robot wrist;
- storing the computed error vector in the wrist coordinate system;
- computing a command value for a robot drive unit to correct the positional error concerning the object, in accordance with the taught data stored and the error vector stored;
- and
- controlling said robot drive unit based on said command value.
Dependencies are inferred from the claim text.