Method of generating robot control axis position data
AssigneeFanuc Corporation
InventorsHajimu Kishi, Kunio Tanaka, Shinsuke Sakakibara
Life of this patent
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Abstract
The present invention relates to a method of generating data indicative of robot control axis position. The method has a step of inputting data specifying the shape of a workpiece (WK) and data (.alpha., .beta., .gamma.) specifying the attitude of a tool (TL) conforming to a task to be executed by a robot, a step of calculating a position (X, Y, Z) of a tip (P) of the tool in the workpiece coordinate system X-Y-Z by using the data specifying the workpiece shape, a step of specifying the position of each axis constituting the robot by using the tool tip position and the tool attitude data, and a step of successively specifying positions of each control axis of the robot along a tool path (PT).
Claims4
A method of generating and storing robot control axis positions and controlling a robot therefrom, said method comprising the steps of:
- a) receiving, input to a CAD system, a workpiece shape and a tool attitude conforming to a task to be executed by a robot and storing the workpiece shape and the tool attitude in a RAM;
- b) calculating, by the CAD system, a tool tip portion in a workpiece coordinate system by using the workpiece shape;
- c) specifying the position of each axis constituting the robot by using the tool tip position and the tool attitude and storing the position of each axis in the RAM;
- d) successively specifying positions of each control axis of the robot along a tool path and storing the positions of each control axis along the tool path in the RAM;
- and
- e) controlling the robot based on the positions of each control axis of the robot along the tool path stored in the RAM.
A method of generating and storing robot control axis positions and controlling a robot therefrom, said method comprising the steps of:
- a) receiving, input to a CAD system, a workpiece shape and a tool attitude conforming to a task to be executed by a robot and storing the workpiece shape and the tool attitude in a memory;
- b) calculating, by the CAD system, a tool tip portion of a tip of the tool in a workpiece coordinate system by using the workpiece shape;
- c) specifying the position of each axis constituting the robot by using the tool tip portion and the tool attitude and storing the position of each axis in a memory;
- d) successively specifying positions of each control axis of the robot along a tool path and storing the positions of each control axis along the tool path in a memory, the positions of each control axis specifying the tool attitude including angles .alpha., .beta., which indicate deviations of a central axis of the tool from the direction of a workpiece normal line at the tool tip position and a twist angle .gamma. indicating an amount of tool tip twist;
- and
- e) controlling the robot based on the positions of each control axis along the tool path stored in the memory in said step d).
Dependencies are inferred from the claim text.