Control system for robot hand

Claim 2

A control system for an industrial robot in which a hand of said robot is driven at a predetermined speed along a polygonal path defined by a plurality of straight lines which interconnect a plurality of point coordinates taught to said robot, wherein said straight lines are continuously interconnected by a parabola at predetermined locations in the vicinity of the centers of said straight lines, whereby said hand is continuously moved along said parabola from a straight line to the next straight line.

Claim 3

A control system for an industrial robot according to claim 1, wherein said parabola is generated by dividing a span between two predetermined positions through arithmetic interpolation technique in a manner in which points located between said predetermined positions are defined on a straight line interconnecting said two predetermined positions.

Claim 4

A control system for an:industrial robot in which a hand of said robot is driven at predetermined speeds along a path constituted by a plurality of first and second straight lines (AB, BC) which interconnect a plurality of point coordinates taught to the robot, wherein said second straight line (BC) is arithmetically divided.in dependence on a second speed (v b ) corresponding to the speed at which said hand is moved along said second straight line, and a parabolic interpolation is effected starting from a coordinate point (D) determined in correspondence with said speed (v a ) on said first straight line (AB) to thereby arithmetically dividing sequentially by a predetermined value the spans between said starting coordinate point (D) and coordinate points (E ) determined by said first arithmetic division for determining parabolic interpolating points (p m ), whereby said hand is moved along the determined interpolating point (p ) continuously from said first to said second straight line.

Claim 5

A control system for an:industrial robot in which a hand of said robot is driven at predetermined speeds along a path constituted by a plurality of first and second straight lines (AB, BC) which interconnect a plurality of point coordinates taught to the robot, wherein said second straight line (BC) is arithmetically divided.in dependence on a second speed (v b ) corresponding to the speed at which said hand is moved along said second straight line, and a parabolic interpolation is effected starting from a coordinate point (D) determined in correspondence with said speed (v a ) on said first straight line (AB) to thereby arithmetically dividing sequentially by a predetermined value the spans between said starting coordinate point (D) and coordinate points (E ) determined by said first arithmetic division for determining parabolic interpolating points (p m ), whereby said hand is moved along the determined interpolating point (p ) continuously from said first to said second straight line.

Claim 6

A control system for an industrial robot according to claim 3, wherein said parabolic interpolation starting point (D) on said first straight line is so set that a span (DB) between said starting point and the intermediate nodal point (B) is equal to n/n a ·v a .T, while a parabolic interpolation ending point (E) is so set on the second straight line so that a span (BE) between said parabolic interporation ending point (E) and said intermediate nodal point (B) is equal to n'/n a .v a .T where v a represents speed of the hand on said first straight line, v b represents speed of the hand on said second straight line, T represents a sampling time, n a represents a natural number selected such that AB/v T < n a < AB /v T + 1, n b represents a natural number selected such that BC /v b T ≤ n b < BC /v b T + 1, and n and n' represent predetermined natural numbers.

Claim 7

A control system for an industrial robot according to claim 4, wherein n is equal to n'.

Claim 8

A control system for an industrial robot according to claim 5, wherein coordinate points (E m ) on said second straight line determined through arithmetic division divide equally a line segment (BE) by 2n, and line segments among said coordinate points (E ) are arithmetically divided by n + 1 - m/2 with said coordinate point (D) serving as the starting point for the parabolic interpolation, to thereby determine the parabolic interpolating points (p m ).

Claim 9

A control system for an industrial robot according to claim 5 or 6, wherein n is so selected that BE ≤ ½ BC, so that the parabolic interpolation can be effected successively.

Claim 10

A control system for an industrial robot, wherein attitude of a hand of said robot is taught in terms of two unit vectors ( f , g ), and when two attitudes ( f o . g o ; f n , g n ) are given, rotation angle of said hand rotating from the attitude ( f o , g o ) to the attitude ( f n , g n ) about an axis ( f o - f n ) x ( g o - g n ) is interpolated for driving said robot's hand.

Claim 11

A control system for an industrial robot, wherein attitude of a hand of said robot is taught in terms of two unit vectors ( f , g ), and when two attitudes ( f o . g o ; f n , g n ) are given, rotation angle of said hand rotating from the attitude ( f o , g o ) to the attitude ( f n , g n ) about an axis ( f o - f n ) x ( g o - g n ) is interpolated for driving said robot's hand.

Claim 12

A control system for an industrial robot according to claim 8, wherein said interpolation is a parabolic interpolation.