EP0974884A2
Expired / Lapsed
EP
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Robot controller
Assignee: Fanuc Corp
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Filing: 1999-07-09
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Granted: —
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Expires: 2019-07-09
Abstract
Abstract Axes used for posture alignment are selected from the axes of a work coordinate system W and a tool coordinate system T, and an angle of intersection between those selected axes are set. A robot is then driven so that the selected axes intersect with each other by the set angle of intersection in response to a posture alignment instruction, causing the tool to assume a target posture with respect to a workpiece. Further, angles for rotating the work coordinate system about each axis thereof are set, then the robot is automatically moved so that a coordinate system produced by rotating the work coordinate system by the set angle in response to a posture alignment instruction. Further, the tool coordinate system set at a movable part of a tool is automatically reset according to an amount of movement every time the movable part of the tool move, and the robot is manually fed based on the tool coordinate system thus reset.
Inventors
- 👤 Koichi Room 7-305 Fanuc Manshonharimomi Okanda
- 👤 Takeaki Room 12-305 Fanuc Manshonharimomi Aramaki
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-26 23:11
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/425; G05B19/18; G05B19/408; G05B19/4086; G05B19/423; G05B2219/00; G05B2219/30; G05B2219/39; G05B2219/39134; G05B2219/39137; G05B2219/45; G05B2219/45104
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
134 words
A robot controller comprising: storage means for storing a tool coordinate system set to the
position and posture of a tool attached to a robot, a work coordinate
system set to the environment where a workpiece is placed, any one
coordinate axis selected from the three coordinate axes of the tool
coordinate system and any one coordinate axis selected from the
three coordinate axes of the work coordinate system used in
carrying out posture alignment, and an angle of intersection formed
between said two selected coordinate axes; means for obtaining a target posture of the robot in a such
manner that the angle formed between the two selected coordinate
axes becomes equal to the stored angle when a posture alignment
instruction is inputted; and means for automatically moving the robot to the target
posture.
Claim 2
Dependent Claim
116 words
A robot controller comprising: storage means for storing a tool coordinate system set to the
position and posture of a tool attached to a robot, a work coordinate
system set to the environment where a workpiece is placed, and
data specifying a posture relationship of the tool coordinate system
and the work coordinate system used in carrying out posture
alignment; means for obtaining a target posture of the robot in such a
manner that the tool coordinate system and the work coordinate
system take on the posture relationship indicated by the specified
data stored in the storage means when a posture alignment
instruction is inputted; and means for automatically moving the robot to the target
posture.
Claim 3
Dependent Claim
91 words
The robot controller according to claim 2, wherein the data
specifying the posture relationship of the tool coordinate system and
the work coordinate system are rotation angles about each
coordinate axis which would be necessary to make a posture of a
virtual coordinate system obtained by rotating the work coordinate
system about each coordinate axis of the work coordinate system
itself in a virtual manner and in a prescribed order coincide with a
posture of the tool coordinate system when the robot is moved to the
target posture for posture alignment.
Claim 4
Dependent Claim
86 words
A robot controller, with a tool having moving parts attached to
a robot and with a tool coordinate system set to a reference position
and posture on the moving parts, said robot controller comprising: means for transforming the tool coordinate system based on
an amount of movement of the moving parts of the tool from the
reference position and posture, wherein the tool coordinate system is made to move in line
with movement of the moving parts of the tool from the reference
position and posture.
Claim 5
Dependent Claim
111 words
A robot controller comprising: monitoring means for monitoring whether or not a manual
operation suspension condition set in advance in the robot controller
is fulfilled, said manual operation suspension condition being
fulfilled when a sense signal from a sensor for sensing contact of a
tool attached to a robot and a workpiece is outputted, when a load
torque on one or more motor of motors driving each axis of the robot
exceeds a set torque, or when a predetermined distance is moved
from a manual operation start position, wherein the manual operation is automatically interrupted
when fulfillment of the suspension conditions is detected from the
monitoring means during a manual feeding.
Claim 6
Dependent Claim
42 words
The robot controller according to claim 5, wherein the feed
direction by said manual feeding can be selected to any one of X, Y
and Z axes of the robot reference coordinate system, the work
coordinate system or the tool coordinate system.
Claim 7
Dependent Claim
56 words
The robot controller according to claim 5 or claim 6, further
comprising means for storing a robot position when said suspension
condition is fulfilled, wherein the robot, which has moved a distance
due to its inertia from the fulfillment of the suspension condition to
actual stop, is returned to the position stored in the storage means.
Claim 8
Dependent Claim
57 words
The robot controller according to claim 7, further comprising
means for setting and storing for a direction and a distance of
retreat from a position where the suspension condition is fulfilled,
wherein the robot moves a set distance in a direction stored in the
storage means after suspension at a position where the suspension
condition is fulfilled.
References Cited (Backward Citations)
No citation records indexed.
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