Teaching data preparing method for articulated robot
AssigneeHonda Motor Co., Ltd.
InventorsKoji Takahashi, Shinji Aoki, Yutaka Mitsuhashi
Life of this patent
Estimating the term…
Abstract
Set the first temporary attitude of an end effector for a plurality of work points (step S3). Determine the attitude of an articulated robot at one-end first work point out of a plurality of work points (step S4). Determine the attitude of an articulated robot at the other-end final work point out of a plurality of work points (step S5). Set the second temporary attitudes of an end effector respectively for the other work points so that the attitude of an end effector gradually changes from the first work point toward the final work point (step S6). Correct the first temporary attitude with the second temporary attitude (step S7).
Claims14
A method of generating teaching data for an articulated robot, which has an end effector, for successively working on a plurality of successive working points with said end effector, comprising:
- the first step of establishing first provisional attitudes of said end effector with respect to said working points;
- the second step of determining an attitude of said articulated robot at a first working point at an end of said working points;
- the third step of determining an attitude of said articulated robot at a final working point at the other end of said working points;
- the fourth step of establishing second provisional attitudes of said end effector with respect to other working points such that the attitude of the end effector of said articulated robot which is determined in said second step changes progressively to the attitude of the end effector of said articulated robot which is determined in said third step;
- the fifth step of correcting said first provisional attitudes with said second provisional attitudes to establish attitudes of said end effector of said articulated robot at the respective working points.
A method of generating teaching data for an articulated robot to convert first teaching data for said articulated robot which correspond to a plurality of working points on a first workpiece into second teaching data for said articulated robot which correspond to a plurality of working points on a second workpiece, wherein
- said first teaching data and said second teaching data include tool coordinate data representing attitudes of an end effector of said articulated robot at said working points, said tool coordinate data comprising a plurality of parameters;
- and
- one of the parameters of the tool coordinate data of said second teaching data is established in advance, and the step of converting the tool coordinate data of said first teaching data into the tool coordinate data of said second teaching data so that one of the parameters of the tool coordinate data of said first teaching data matches the one established parameter of said second teaching data, is performed on said working points, and said second teaching data is supplied to said articulated robot.
Dependencies are inferred from the claim text.