Data conversion system for an industrial robot system

A data conversion system for an industrial robot system including a mother robot having an arm swung about a plurality of rotational axes, said mother robot being taught a desired operation by an operator for producing control data specifying the operation taught by the operator, and a line robot having an arm swung about a plurality of rotational axes corresponding to the rotational axes of the arm of the mother robot, said line robot being supplied with said control data for playing back the operation taught to the mother robot by the operator, said data conversion system comprising:

• a first detachable memory device adapted to be mounted detachably on an input/output device, said first detachable memory device being recorded with control data that has been produced by the mother robot and specifying a swinging motion of the arm of the mother robot about each rotational axis thereof and further recorded with first scale data specifying a maximum angle and a minimum angle of the swinging motion of the arm of the mother robot about each rotational axis of the mother robot;
• a first input/output device loaded with the first detachable memory device for reading out said control data and said first scale data from the first detacheable memory device;
• a second detachable memory device adapted to be mounted detachably on an input/output device, said second detachable memory device being recorded with second scale data specifying a maximum angle and a minimum angle of a swinging motion of the arm of the line robot about each rotational axis of the line robot, said second detachable memory device being further recorded with axial shift data indicating an origin of the arm of the line robot for each rotational axis;
• a second input/output device loaded with the second detachable memory device for reading out said second scale data and said axial shift data from the second detachable memory device;
• and
• processing means supplied with said control data and first scale data from said input/output device and further supplied with said second scale data and axial shift data from said second input/output device for modifying the control data in accordance with said first and second scale data and the axial shift data to produce converted control data;
• said processing means further supplying the converted control data to the second input/output device;
• wherein said second input/output device records the converted control data thus obtained on said second detachable memory device;
• and
• wherein said processing means modifies the control data for an i-th rotational axis of the mother robot into the converted control data first by a normalization process according to an equation
• NDATA(i)=[DATA(i)-END1]/[END2-END1].times.2.sup.12
• where NDATA(i) is a normalized control data for the i-th rotational axis, DATA(i) is the control data for the i-th rotational axis, and END1 and END2 are the minimum and maximum angles of the i-th rotational axis of the mother robot, and then by a modification of NDATA(i) according to an equation
• NDATA(i)=[NDATA(i).times.(END1-END2)/2.sup.12 +END1
• where NDATA(i) is the converted control data for the i-th rotational axis of the line robot, END1 and END2 are the minimum and maximum angles of the i-th rotatioanl axis of the line robot.