EP0144442A1
Expired / Lapsed
EP
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Method of controlling industrial robot along arc
Assignee: Fanuc Corp
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Filing: 1984-05-25
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Granted: —
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Expires: 2004-05-25
Abstract
Abstract A method of controlling an industrial robot along an arc wherein the position of a working member attached to the wrist of the industrial robot is controlled along an arc by interpolation, while the angle of the working member with respect to a surface being worked is controlled. The method comprises the steps of obtaining corresponding points (P i , P 2 ...: Q 1 , Q 2 ...) of the far end and near end of the working member (TC) attached to the wrist (HD) of the robot at a plurality of instruction points, for controlling the far end of the working member (TC) along an arc; obtaining interpolation points of the far end and near end of the working member from interpolation using the pairs of corresponding points; and obtaining command quantities for the operational axes of the robot from both interpolation points.
Inventors
- 👤 Kenichi Toyoda
- 👤 Shinsuke Mezon-Izumi 101 Sakakibara
- 👤 Tooru Mizuno
- 👤 Ryuichi Hirayamashataku 202 10-1 2-Chome Hara
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-04 14:19
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/41; G05B2219/00; G05B2219/30; G05B2219/45; G05B2219/45083; G05B2219/50; G05B2219/50353
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
186 words
An industrial robot circular arc control method having an industrial robot which possesses a plurality of motion axes along which motion is effected by a plurality of respective motors, and a control unit for controlling each of the motors of said robot, said control unit controlling each of said motors to move a tip of a working member, which is mounted on a wrist of said robot, along a circular arc, characterized in that the control unit obtains corresponding points of the tip and base of a working member at plural taught points for circular-arc control of the tip of said working member, which is mounted on a wrist of the robot, finding interpolated points of the tip of the working member by interpolation from the corresponding points of the tip of said working member, finding interpolated points of the base of the working member by interpolation from the corresponding points of the base of said working member, obtaining motion command quantities for the respective motion axes from both sets of the interpolated points obtained, and controlling said motors on the basis of the command quantities.
Claim 2
Dependent Claim
186 words
An industrial robot circular arc control method having an industrial robot which possesses a plurality of motion axes along which motion is effected by a plurality of respective motors, and a control unit for controlling each of the motors of said robot, said control unit controlling each of said motors to move a tip of a working member, which is mounted on a wrist of said robot, along a circular arc, characterized in that the control unit obtains corresponding points of the tip and base of a working member at plural taught points for circular-arc control of the tip of said working member, which is mounted on a wrist of the robot, finding interpolated points of the tip of the working member by interpolation from the corresponding points of the tip of said working member, finding interpolated points of the base of the working member by interpolation from the corresponding points of the base of said working member, obtaining motion command quantities for the respective motion axes from both sets of the interpolated points obtained, and controlling said motors on the basis of the command quantities.
Claim 3
Dependent Claim
166 words
An industrial robot circular arc control method according to claim 1, characterized in that the control unit previously stores positions of the tip and base of the working member at a predetermined rotational angle of the wrist, with a predetermined point Qt in the plane of the wrist of the robot serving as a reference, positions the tip of the working member at each taught point at a predetermined target angle and stores as taught data the position of the predetermined point Qt in the plane of the wrist and the rotational angle of the wrist at each taught point, finds positions of the tip and base of the working member in a robot coordinate system based on said stored taught data and the positions of the tip and base of the working member where the predetermined point Q in the plane of the working member serves as the reference, and treats these positions as taught points of the tip and base of the working member.
Claim 4
Dependent Claim
91 words
An industrial robot circular arc control method according to claim 2, characterized in that the control unit finds corresponding points at a predetermined time on a circular arc connecting three taught points of the tip of the working member and on a circular arc connecting three taught points of the base of the working member, and obtains motion command quantities for the respective motion axes of the robot based on an inclination vector connecting each of the corresponding points, and on said corresponding points of the tip of the working member.
References Cited (Backward Citations)
No citation records indexed.
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