US 6,218,802 B1 · Robot control unit

Abstract

A robot may be taught to perform a task by recording information regarding the positions and attitudes of the joints of the robot body as it performs the task. When this information is subsequently replayed, the robot performs the task in the manner as taught. In particular, the robot may be taught either by an operator situated near the robot body or by an operator situated at a remote location. At the remote location, the robot may be taught by an operator even though the operator cannot see the robot body. More particularly, at the remote location, information regarding the current position and attitude of the joints of the robot body is displayed to the operator, and the operator may adjust this information in order to control the movement of the robot body. As a safety measure, when an operator is located near the robot body, only an operator situated near the robot body can control the robot body.

Claims20

Dependent claims

A robot control unit for controlling a robot body with a plurality of joints, comprising;

a servo unit for respectively driving the joints of the robot body, in response to an instructing signal sent thereto,
first teach-inputting means disposed at a neighboring place where an operator can directly see the robot body, for making teaching data for positions of the joints of the robot body by operating thereto,
second teach-inputting means disposed at another remote place where an operator can not directly see the robot body, for making teaching data for positions of the joints of the robot body by operating thereto,
choosing means connected to the first teach-inputting means and the second teach-inputting means, for choosing the teaching data made by either the first teach-inputting means or the second teach-inputting means, and
controlling means connected to the choosing means and the servo unit, having a memory for teaching data, for transmitting the teaching data chosen by the choosing means to the servo unit as the instruction signal, and for causing the teaching data to be stored in the memory for teaching data.

2 more elements

A robot control unit for controlling a robot body with a plurality of joints, comprising;

a servo unit for respectively driving the joints of the robot body, in response to an instructing signal sent thereto,
first teach-inputting means disposed at a neighboring place where an operator can directly see the robot body, for making teaching data for positions of the joints of the robot body by operating thereto,
second teach-inputting means disposed at another remote place where an operator can not directly see the robot body, for making teaching data for positions of the joints of the robot body by operating thereto,
robot body displaying means provided in the second teach-inputting means, for displaying the positions of the joints of the robot body,
choosing means connected to the first teach-inputting means and the second teach-inputting means, for choosing the teaching data made by either the first teach-inputting means or the second teach-inputting means,
controlling means connected to the choosing means and the servo unit, having a memory for teaching data, for causing the teaching data chosen by the choosing means to be stored in the memory for teaching data.

3 more elements

Dependencies are inferred from the claim text.

Robot control unit

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Robot control unit

Life of this patent

Abstract

Claims20