Apparatus for controlling a robot

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting simultaneous movement of the robot member in a second direction, the apparatus comprising:

• first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction by the first movement control means is completed;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before the control of movement in the first direction by the first movement control means has been completed;
• the first direction being transverse to the second direction and essentially upwardly vertical and the second direction is essentially horizontal;
• the first movement control means being responsive to a second timing signal to move the robot member in a direction which is opposite to the first direction, the second timing signal being generated by the second movement control means when the robot member has attained a predetermined state in its movement to a desired distance in the second direction, the predetermined state having been attained before movement in the second direction has been completed, whereby movement of the robot member in a direction opposite the first direction is begun before movement in the second direction has been completed;
• and
• two second drive axes which support movement of the robot member in two directions which are transverse to the first direction and in which the second movement control means is responsive to the first timing signal to move the robot member in the two transverse directions.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting simultaneous movement of the robot member in a second direction, the apparatus comprising:

• first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction by the first movement control means is completed;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before the control of movement in the first direction by the first movement control means has been completed;
• the first movement control means generating a movement control signal for controlling movement in the first direction and the second movement control means generating a movement control signal for controlling movement in the first direction and a movement control signal for controlling movement in the second direction
• driving circuit means for moving the robot member in response to the movement control signals;
• and
• control signal selecting means having the movement control signals for controlling movement in the first direction as inputs, the control signal selecting means selectively coupling the signal for controlling movement in the first direction from the second movement control means to the driving circuit means instead of the signal from the first movement control means, whereby movement in the first and in the second direction are controlled simultaneously.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting simultaneous movement of the robot member in a second direction, the apparatus comprising:

• first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction by the first movement control means is completed;
• the first movement control means including first calculator means responsive to a start signal for determining the time required for the robot member to move a desired distance in the second direction;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before the control of movement in the first direction by the first movement control means has been completed;
• and
• second calculator means for determining a desired reduced level of velocity of movement of the robot member in the first direction at which movement in the second direction is to start in accordance with the formula:
• ##EQU6## wherein a is the time required for moving the robot member a given distance in the second direction, b is the time required for decelerating movement in the first direction, c is an offset time which provides for decay of residual movement in the first direction before the end of movement in the second direction, and v.sub.o is the maximum velocity of movement in the first direction.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting simultaneous movement of the robot member in a second direction, the apparatus comprising:

• first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction by the first movement control means is completed;
• the first movement control means including first calculator means responsive to a start signal for determining the time t required for movement of the robot member in the second direction to a point which is a predetermined distance x from the desired position, in accordance with the formula:
• ##EQU7## where a is the time required for movement of the robot member in the second direction to the desired position calculated in accordance with a predetermined acceleration-deceleration curve, and d is a constant inherent in the acceleration-deceleration curve and;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before the control of movement in the first direction by the first movement control means has been completed.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting movement of the robot member in a second direction, the apparatus comprising:

• first movement control means for moving the robot member in the first direction, the first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction is completed;
• and
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before movement in the first direction has been completed;
• the first movement control means being responsive to a second timing signal to move the robot member in a direction which is opposite to the first direction, the second timing signal being generated by the second movement control means when the robot member has attained a predetermined state in its movement to a desired distance in the second direction, the predetermined state having been attained before movement in the second direction has been completed, whereby movement of the robot member in a direction opposite the first direction is begun before movement in the second direction has been completed;
• the first movement control means moving the robot member in a vertical direction and the second movement control means moving the robot member in a horizontal direction, and further comprising:
• first calculator means in the second control means for calculating the time required for descent of the robot member by a desired amount;
• second calculator means in the second control means having the time calculated by the first calculator means as an input, the second calculator means providing a start signal when the robot member has attained a predetermined state in its horizontal movement;
• third calculator means in the first movement control means for calculating when the robot member has attained a predetermined state in its vertical movement;
• first timing means providing a timing signal when the robot member has attained the predetermined state of the first movement control means and further comprising:
• first detector means responsive to the timing signal from the first timing means, the first detector means providing a timing signal for initiating movement of the robot member in the horizontal direction;
• first coincidence detector means having the timing signal from the first detector means and the start signal from the second calculator means as inputs, the first coincidence detector means providing a control signal output and;
• horizontal signal generator means responsive to the control signal from the first coincidence detector means to provide a control signal for driving the robot member in the horizontal direction.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting movement of the robot member in a second direction, the apparatus comprising:

• first movement control means for moving the robot member in the first direction, the first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction is completed;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before movement in the first direction has been completed;
• first calculator means for determining the time required for movement of the robot member a desired distance in the second direction in accordance with a predetermined acceleration-deceleration curve;
• the first calculator means comprising a microprocessor and the predetermined acceleration-deceleration curve comprising a data table containing drive control signal information which is stored in memory and is referred to by the microprocessor, and;
• second calculator means in the microprocessor for providing a time t at which movement of the robot arm in the first direction will have attained a desired velocity at which movement in the second direction is to start in accordance with the formula;
• ##EQU8## where i is a predetermined number for referring to drive control signal data in the data table for generating a control signal for acceleration in the first direction, j is a predetermined number for referring to drive control signal data in the data table for generating a control signal for acceleration in the second direction, t.sub.o is the time data for obtaining maximum velocity stored in the acceleration-deceleration table, and .alpha. is an offset time which provides for decay of residual movement in the first direction before the end of movement in the second direction.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting movement of the robot member in a second direction, the apparatus comprising:

• first movement control means for moving the robot member in the first direction, the fist movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction is completed;
• and
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before movement in the first direction has been completed;
• the first direction being essentially upwardly vertical and the second direction being essentially horizontal;
• and
• two second drive axis which support movement of the robot member in two directions which are transverse to the first direction and in which the second movement control means is responsive to the first timing signal to move the robot member in the two transverse directions.

An apparatus for controlling a robot, the robot comprising a first axis for supporting movement of a robot member in a vertical direction and at least one second axis for supporting simultaneous movement of the robot member in a horizontal direction, the apparatus comprising:

• vertical movement control means for controlling movement of the robot member in a vertical direction, the vertical movement control means providing a first timing signal at a time before an ascending movement of the robot member by the vertical movement control means has been completed, the vertical movement control means being responsive to a second timing signal to move the robot member in a descending direction;
• independent horizontal movement control means responsive to the first timing signal to begin movement of the robot member in a horizontal direction, the horizontal control circuit providing the second timing signal at a time before movement of the robot member in the horizontal direction by the horizontal movement control means is completed, whereby descending movement of the robot member is initiated;
• means for estimating the time required for descending movement of the robot member;
• means for calculating a velocity of horizontal movement such that the time remaining before completion of the horizontal movement is less than the estimated time required for descent of the robot member;
• and
• means responsive to detection of deceleration of the velocity of horizontal movement of the robot member to the calculated velocity of horizontal movement to provide the second timing signal.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting movement of the robot member in a second direction, the apparatus comprising:

• first movement control means for moving the robot member in the first direction, the first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction is completed;
• and
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before movement in the first direction has been completed;
• the first movement control means being responsive to a second timing signal to move the robot member in a direction which is opposite to the first direction, the second timing signal being generated by the second movement control means when the robot member has attained a predetermined state in its movement to a desired distance in the second direction, the predetermined state having been attained before movement in the second direction has been completed, whereby movement of the robot member in a direction opposite the first direction is begun before movement in the second direction has been completed;
• and
• there are two second drive axes which support movement of the robot member in two directions which are transverse to the first direction and in which the second movement control means is responsive to the first timing signal to move the robot member in the two transverse directions.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting movement of the robot member in a second direction, the apparatus comprising:

• first movement control means for moving the robot member in the first direction, the first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction is completed;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before movement in the first direction has been completed;
• and
• the first movement control means generates a movement control signal for controlling movement in the first direction and the second movement control means generates a movement control signal for controlling movement in the first direction and a movement control signal for controlling movement in the second direction, the robot control apparatus further comprising:
• driving circuit means for moving the robot member in response to the movement control signals;
• and
• control signal selecting means having the movement control signals for controlling movement in the first direction as inputs, the control signal selecting means selectively coupling the signal for controlling movement in the first direction from the second movement control means to the driving circuit means instead of the signal from the first movement control means, whereby movement in the first and in the second direction are controlled simultaneously.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting movement of the robot member in a second direction, the apparatus comprising:

• first movement control means for moving the robot member in the first direction, the first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction is completed;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before movement in the first direction has been completed;
• and the first movement control means further comprises:
• first calculator means responsive to a start signal for determining the time required for the robot member to move a desired distance in the second direction;
• and
• second calculator means for determining a desired reduced level of velocity of movement of the robot member in the first direction at which movement in the second direction is to start in accordance with the formula:
• v.ltoreq.(a/b-c) v.sub.o
• wherein a is the time required for moving the robot member a given distance in the second direction, b is the time required for decelerating movement in the first direction, c is an offset time which provides for decay of residual movement in the first direction before the end of movement in the second direction, and v.sub.o is the maximum velocity of movement in the first direction.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting movement of the robot member in a second direction, the apparatus comprising:

• first movement control means for moving the robot member in the first direction, the first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction is completed;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before movement in the first direction has been completed;
• the first movement control means further comprising:
• first calculator means for determining the time required for movement of the robot member a desired distance in the second direction in accordance with a predetermined acceleration-deceleration curve;
• and
• second calculator means for establishing a desired reduced level of velocity of movement of the robot member in the first direction, the calculator means having as an input the time calculated by the first calculator means.

An apparatus for controlling a robot, the robot comprising a first drive axis for supporting movement of a movable robot member in a first direction and at least one second drive axis for supporting movement of the robot member in a second direction, the apparatus comprising:

• first movement control means for moving the robot member in the first direction, the first movement control means generating a first timing signal when the robot member has attained a predetermined state in its movement through a desired distance in the first direction, the predetermined state being attained before movement in the first direction is completed;
• independent second movement control means responsive to the first timing signal to begin movement of the robot member in the second direction before movement in the first direction has been completed;
• and the first movement control means further comprising:
• first calculator means responsive to a start signal for determining the time t required for movement of the robot member in the second direction to a point which is a predetermined distance x from the desired position, in accordance with the formula:
• ##EQU9## where a is the time required for movement of the robot member in the second direction to the desired position calculated in accordance with a predetermined acceleration-deceleration curve, and d is a constant inherent in the acceleration-deceleration curve.

An apparatus for controlling a robot, the robot comprising a first axis for supporting movement of a robot member in a vertical direction and at least one second axis for supporting simultaneous movement of the robot member in a horizontal direction, the apparatus comprising:

• vertical movement control means for controlling movement of the robot member in a vertical direction, the vertical movement control means providing a first timing signal at a time before an ascending movement of the robot member by the vertical movement control means has been completed, the vertical movement control means being responsive to a second timing signal to move the robot in a descending direction;
• independent horizontal movement control means responsive to the first timing signal to begin movement of the robot member in a horizontal direction, the horizontal control circuit providing the second timing signal at a time before movement of the robot member in the horizontal direction by the horizontal movement control means is completed, whereby descending movement of the robot member is initiated;
• means for estimating the time required for descending movement of the robot member;
• means for calculating a velocity of horizontal movement such that the time remaining before completion of the horizontal movement is less than the estimated time required for descent or the robot member;
• means responsive to detection of deceleration of the velocity of horizontal movement of the robot member to the calculated velocity of horizontal movement to provide the second timing signal;
• and
• one of the vertical movement control means and the horizontal control means being adapted to control movement of the robot arm on both axes.