US 7,643,905 B2Granted

Robot program correcting apparatus

AssigneeFanuc Corporation

InventorsAtsushi Watanabe, Yoshiharu Nagatsuka

Life of this patent

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Abstract

A robot program correcting apparatus, which displays three-dimensional models of a robot and a workpiece simultaneously on the screen of a display apparatus, and corrects an operation program for the robot, includes: a unit retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.

Claims10

Dependent claims

A robot program correcting apparatus which displays three-dimensional models of a robot and a workpiece simultaneously on a screen of a display apparatus, and corrects an operation program for said robot, said apparatus comprising:

touchup position storing means for storing, as a plurality of points, an actual position located on said workpiece by actually operating said robot to touch said actual position on said workpiece that corresponds to a working position specified on said screen;
touchup line or touchup surface computing means for computing at least either a line or a surface based on said plurality of touchup points;
working position storing means for storing, as a plurality of points, position information concerning said working position on said workpiece displayed on said screen;
robot operation program retrieving means for retrieving said robot operation program based on said plurality of points stored in said working position storing means;
working position line or surface computing means for computing at least either a line or a surface based on a plurality of working positions designated by said robot operation program;
difference computing means for computing (i) a difference unit normal vector and (ii) an offset distance from a difference between (a) the surface calculated based on said working points and the surface calculated based on said touchup points, or between (b) the line calculated based on said working points and the line calculated based on said touchup points;
and
correcting means for correcting said robot operation program by computing the amount of correction based on said difference.

5 more elements

touchup position storing means for storing, as a plurality of points, an actual position located on said workpiece by actually operating said robot to touch up said actual position on said workpiece that corresponds to a working position specified on said screen;
means for retrieving, based on said touchup position, a robot operation program and working position associated with said touchup position;
touchup line or touchup surface computing means for computing at least either a line or a surface based on said plurality of touchup points;
working position line or surface computing means for computing at least either a line or a surface based on a plurality of points representing said retrieved working point;
difference computing means for computing a difference between at least either said line or surface computed from said touchup points and at least either said line or surface computed from said points representing said retrieved working position;
and
correcting means for correcting said robot operation program by computing the amount of correction based on said difference.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 11/279,348Filed 11 Apr 2006
Priority: JP 2005-11584113 Apr 2005
Published: US 2007/0299557 A127 Dec 2007
Granted: 5 Jan 2010
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

G05B 19/4207
Preparation of the program medium using a drawing, a model: in which a model is traced or scanned and corresponding data recorded
B25J 9/1656
Program controls: characterised by programming, planning systems for manipulators
G05B 19/4083
Characterised by data handling or data format, e.g. reading, buffering or conversion of data: adapting program, configuration
G05B 2219/36416
Nc in input of data, input key till input tape: adapt teached position as function of deviation 3-D, 2-D position of end effector, tool