EP0062076A1
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EP
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Method and apparatus for controlling industrial robot
Assignee: Fanuc Corp
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Filing: 1981-10-08
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Granted: —
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Expires: 2001-10-08
Abstract
Abstract A method of and an apparatus for controlling an industrial robot having: a pulse distribution circuit (19) for calculating the pulse distribution on the basis of position command data of instruction data to generate distribution pulses (Zp), a pulse coder (24) for generating a feedback pulse (FP) every time the robot moves a predetermined distance in a Z-axis direction, an error register (20) for storing the number of distribution pulses and the number of feedback pulses, and position control means (21, 22) for controlling the position of the robot, for correcting the deflection amount AZ of the arm occuring when the robot holds a workpiece having a weight w. The apparatus includes a memory (11) for storing the deflection amount A Z O of the arm when the arm having a length ΔZ o holds a workpiece having a predetermined weight WO, an arithmetic circuit (12) for calculating the deflection amount ΔZ when the arm having a length 1 o holds a workpiece having a weight W from ΔZ o , 1 0 , W o , 1 and W, and an adding circuit (18) for adding the Z-axis incremental movement command amount Zd and the deflection amount ΔZ to produce an output to the circuit (19) and correct the positional error due to the deflection by producing the distribution pulse corresponding to the amount (Zd+ΔZ) via the circuit (19).
Inventors
- 👤 Hajimu Inaba
- 👤 Shinsuke Sakakibara
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-06 20:25
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37357; G05B2219/39; G05B2219/39176; G05B2219/42; G05B2219/42182; G05B2219/45; G05B2219/45083; G05B2219/49; G05B2219/49169
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
127 words
In an industrial robot control method for actuating an industrial robot in accordance with taught data, an industrial robot control method characterized by including the steps of measuring and storing beforehand an amount cf bending ΔZ o of an arm when a workpiece having a p re- determined weight W o is gripped at an arm length ℓ o , computing an amount of bending ΔZ when a workpiece having a weight W which differs from said weight W o is being gripped at an arm length ℓ, said computation being performed using said stored amount of bending ΔZ as. well as ℓ o and W o and the like, and correcting the position of the arm on the basis of said computed amount of bending ΔZ.
Claim 2
Dependent Claim
127 words
In an industrial robot control method for actuating an industrial robot in accordance with taught data, an industrial robot control method characterized by including the steps of measuring and storing beforehand an amount cf bending ΔZ o of an arm when a workpiece having a p re- determined weight W o is gripped at an arm length ℓ o , computing an amount of bending ΔZ when a workpiece having a weight W which differs from said weight W o is being gripped at an arm length ℓ, said computation being performed using said stored amount of bending ΔZ as. well as ℓ o and W o and the like, and correcting the position of the arm on the basis of said computed amount of bending ΔZ.
Claim 3
Dependent Claim
20 words
An industrial robot control method according to claim 1, characterized in that the amount of bending ΔZ is computed from:
Claim 4
Dependent Claim
76 words
An industrial robot control method according to claim 2, characterized in that when Z d stands for an incremental commanded amount of movement along the Z-axis, (Z d + ΔZ) is applied to a pulse distributor as an amount of movement along the Z-axis that takes the amount of bending into account, and distributed pulses corresponding to (Z d + ΔZ) are applied to a Z-axis servo circuit, whereby the position of the arm is corrected.
Claim 5
Dependent Claim
25 words
An industrial robot control method according to claim 1, characterized by including the step of entering said workpiece weight W from an external input unit.
Claim 6
Dependent Claim
230 words
In an industrial robot control method for controlling an industrial robot in accordance with taught data and for controlling the position of an industrial robot by executing pulse distribution operation on the basis of positional command data from the taught data, storing in an error register the difference between the number of distributed pulses provided by said pulse distribution operation and a number of feedback pulses generated each time the industrial robot moves by a predetermined amount, DA-converting said difference and controlling the position of the industrial robot in accordance with the DA-converted output, an industrial robot control method characterized by including the steps of measuring and storing beforehand an amount of bending ΔZ o of an arm when a workpiece having a predetermined weight W is gripped at an arm length ℓ o , determining and storing beforehand the corresponding relationship between said difference stored in the error register and the weight of a workpiece, reading an actual workpiece weight W using the difference stored in the error register, computing an amount of bending ΔZ when a workpiece having a weight W is gripped at an arm length ℓ, said com - putation being performed using said stored amount of bending ΔZ o as well as ℓ o and Wand the like, and correcting the position of the arm on the basis of said computed amount of bending ΔZ.
Claim 7
Dependent Claim
230 words
In an industrial robot control method for controlling an industrial robot in accordance with taught data and for controlling the position of an industrial robot by executing pulse distribution operation on the basis of positional command data from the taught data, storing in an error register the difference between the number of distributed pulses provided by said pulse distribution operation and a number of feedback pulses generated each time the industrial robot moves by a predetermined amount, DA-converting said difference and controlling the position of the industrial robot in accordance with the DA-converted output, an industrial robot control method characterized by including the steps of measuring and storing beforehand an amount of bending ΔZ o of an arm when a workpiece having a predetermined weight W is gripped at an arm length ℓ o , determining and storing beforehand the corresponding relationship between said difference stored in the error register and the weight of a workpiece, reading an actual workpiece weight W using the difference stored in the error register, computing an amount of bending ΔZ when a workpiece having a weight W is gripped at an arm length ℓ, said com - putation being performed using said stored amount of bending ΔZ o as well as ℓ o and Wand the like, and correcting the position of the arm on the basis of said computed amount of bending ΔZ.
Claim 8
Dependent Claim
20 words
An industrial robot control method according to claim 5, characterized in that the amount of bending ΔZ is computed from:
Claim 9
Dependent Claim
74 words
An industrial robot control method according to claim 5, characterized in that when Z d stands for an incremental commanded value along the Z-axis, (Z d + ΔZ) is applied to a pulse distributor as an amount of movement along the Z-axis that takes the amount of bending into account, and distributed pulses corresponding to (Z d + ΔZ) are applied to a Z-axis servo circuit, whereby the position of the arm is corrected.
Claim 10
Dependent Claim
111 words
In an industrial robot control method for actuating an industrial robot in accordance with taught data, an industrial robot control method characterized by including the steps of measuring and storing beforehand amounts of bending ΔZ i (i=1, 2,...) of an arm when a workpiece having a predetermined weight W is gripped at various arm lengths ℓ i (i=1, 2,...), computing an amount of bending ΔZ when a workpiece having a weight W is gripped at an arm length ℓ j (ℓ i < ℓ j < ℓ i+1 ), said computation being performed using: and correcting the position of the arm on the basis of said computed amount of bending ΔZ.
Claim 11
Dependent Claim
111 words
In an industrial robot control method for actuating an industrial robot in accordance with taught data, an industrial robot control method characterized by including the steps of measuring and storing beforehand amounts of bending ΔZ i (i=1, 2,...) of an arm when a workpiece having a predetermined weight W is gripped at various arm lengths ℓ i (i=1, 2,...), computing an amount of bending ΔZ when a workpiece having a weight W is gripped at an arm length ℓ j (ℓ i < ℓ j < ℓ i+1 ), said computation being performed using: and correcting the position of the arm on the basis of said computed amount of bending ΔZ.
Claim 12
Dependent Claim
35 words
An industrial robot control method according to claim 8, characterized by including the step of storing beforehand amounts of bending for various arm lengths ℓ i (i= 1 , 2, ...), while changing the weight.
Claim 13
Dependent Claim
217 words
In an industrial robot control apparatus having a pulse distributing circuit for executing a pulse distribution operation on the basis of positional command data from taught data to generate distributed pulses, a pulse coder for generating a feedback pulse each time the industrial robot moves a predetermined amount along the Z-axis, an error register for storing the difference between the number of distributed pulses and the number of feedback pulses, and positional control means for positionally controlling . the industrial robot in such a manner that said differences approaches zero, an industrial robot control apparatus characterized by including a memory for storing an amount of bending ΔZ o of an arm when a workpiece having a predetermined weight W is gripped at an arm length ℓ o , an arithmetic circuit for computing an amount of bending ΔZ when a workpiece of weight W is gripped at an arm length ℓ, said computation being performed using said amount of bending ΔZ o as well as ℓ o and W o , and an adding circuit for adding an incremental commanded amount of movement Z d along the Z-axis and said amount of bending ΔZ and for delivering the sum to the pulse distributing circuit, said pulse distributing circuit generating distributed pulses corresponding to (Z d + ΔZ).
Claim 14
Dependent Claim
217 words
In an industrial robot control apparatus having a pulse distributing circuit for executing a pulse distribution operation on the basis of positional command data from taught data to generate distributed pulses, a pulse coder for generating a feedback pulse each time the industrial robot moves a predetermined amount along the Z-axis, an error register for storing the difference between the number of distributed pulses and the number of feedback pulses, and positional control means for positionally controlling . the industrial robot in such a manner that said differences approaches zero, an industrial robot control apparatus characterized by including a memory for storing an amount of bending ΔZ o of an arm when a workpiece having a predetermined weight W is gripped at an arm length ℓ o , an arithmetic circuit for computing an amount of bending ΔZ when a workpiece of weight W is gripped at an arm length ℓ, said computation being performed using said amount of bending ΔZ o as well as ℓ o and W o , and an adding circuit for adding an incremental commanded amount of movement Z d along the Z-axis and said amount of bending ΔZ and for delivering the sum to the pulse distributing circuit, said pulse distributing circuit generating distributed pulses corresponding to (Z d + ΔZ).
Claim 15
Dependent Claim
54 words
An industrial robot control apparatus according to claim 10, characterized in that there is provided a memory for storing beforehand the corresponding relationship between the difference stored in said error register and the weight of a workpiece, and in that a workpiece weight is found from said memory and applied to said arithmetic circuit.
Claim 16
Dependent Claim
46 words
An industrial robot control apparatus according to claim 10, characterized in that there are stored in memory amounts of bending ΔZ i (i=1, 2,...) of an arm when a workpiece having a predetermined weight W o is gripped at various arm lengths ℓ i (i=1, 2,...).
References Cited (Backward Citations)
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