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EP0227304A2 Expired / Lapsed EP ⏱️ 0.0 years remaining

Method of controlling a robot

Assignee: Shibaura Machine Co Ltd
•
Filing: 1986-11-20
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Granted: —
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Expires: 2006-11-20
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Abstract

Abstract A moving component of a robot, such as a robot arm, is controlled to return from a given position (D) to an original point (A) after the moving component has traced paths established respectively by a group of successive motion data blocks (1,2,3,4) including positional data representative of positions of the moving component. The moving component is moved on the basis of positional data in one of the motion data blocks which precedes a present position of said moving component, and then is moved on the basis of positional data in one of said motion data blocks which precedes said first-mentioned one of the motion data blocks. Therefore, the moving component is moved successively backwards along the paths based on the positional data in the motion data blocks (1,2,3,4).

Inventors

  • 👤 Kosei Takeyama
  • 👤 Toshinori Nakamoto

Bibliographic Details

Application Number —
Jurisdiction EP
Data Source google_patents
Last Synchronized 2026-11-05 10:17
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/41; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34091; G05B2219/45; G05B2219/45083

Claims Analysis

Total Claims: 4
Claim 1
Independent Claim 127 words
A method of controlling a moving component of a robot to return from a given position (D) to an original point (A) after the moving component has traced paths established respectively by a group of successive motion data blocks (1,2,3,4) including positional data representative of positions of the moving component, said method comprising the steps of: moving said moving component based on positional data in one of the motion data blocks which precedes a present position of said moving component; and moving said moving component based on positional data in one of said motion data blocks which precedes said first-mentioned one of the motion data blocks, thereby moving said moving component successively backwards along said paths based on the positional data in said motion data blocks (1,2,3,4).
Claim 2
Independent Claim 127 words
A method of controlling a moving component of a robot to return from a given position (D) to an original point (A) after the moving component has traced paths established respectively by a group of successive motion data blocks (1,2,3,4) including positional data representative of positions of the moving component, said method comprising the steps of: moving said moving component based on positional data in one of the motion data blocks which precedes a present position of said moving component; and moving said moving component based on positional data in one of said motion data blocks which precedes said first-mentioned one of the motion data blocks, thereby moving said moving component successively backwards along said paths based on the positional data in said motion data blocks (1,2,3,4).
Claim 3
Dependent Claim 104 words
A method according to claim 1, wherein each of said motion data blocks (2,3,4) corresponding to the positions of the moving component except for the original point includes velocity data for indicating a velocity at which said moving component is to travel up to the position indicated by the positional data in said each motion data block, and wherein the velocity at which said moving component moves based on the positional data in the motion data block which precedes the motion data block corresponding to the present position is based on the velocity data in the motion data block corresponding to said present position.
Claim 4
Dependent Claim 25 words
A method according to claim 1, wherein the velocities at which the robot returns to the original point (A) are uniform in respective movement zones.

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