US4956594A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method of controlling a robot in accordance with load conditions
Assignee: Fanuc Corp
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Filing: 1988-09-17
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Granted: 1990-09-11
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Expires: 2008-09-17
Abstract
Abstract A robot control method for enabling a robot effectuate various operations, having load conditions which differ from one another, in accordance with optimum control conditions. A load condition, including the sum (W) of the weight of a robot hand and the weight of a workpiece, a distance (L) from the center point of the joint of the robot hand to the center of gravity of the hand and the workpiece, and a combined inertia (J) of the robot hand and the workpiece, is set for each of the robot operations and stored together with a group number indicating the load condition. To operate the robot, load condition commands, which are written in a program along with operation commands include a load condition control code and a group number. The control conditions are determined on the basis of the load conditions corresponding to the group numbers. The robot operations are then performed in accordance with the control conditions thus determined.
Inventors
- 👤 Toru Mizuno
- 👤 Haruyuki Ishikawa
- 👤 Takashi Iwamoto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 03:19
CPC Classifications
B; B25; B25J; B25J13/00; B25J9/00; B25J9/16; B25J9/1628; B25J9/1638; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/33; G05B2219/33119; G05B2219/36; G05B2219/36511; G05B2219/39; G05B2219/39178; G05B2219/42; G05B2219/42033
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
116 words
A method of controlling a robot in accordance with load conditions, comprising the steps of: (a) storing beforehand load conditions for various operations of the robot; (b) reading a program including operation commands, for instructing a series of operations to be executed by the robot, and load condition commands, each representing a load condition for a corresponding operation in the series of operations; (c) reading one of the load conditions stored in step (a) corresponding to a load condition command individually read from the program in step (b), and determining a desired control condition based on the load condition read; and (d) controlling the robot in accordance with the desired control condition determined in step (c).
Claim 2
Independent Claim
116 words
A method of controlling a robot in accordance with load conditions, comprising the steps of: (a) storing beforehand load conditions for various operations of the robot; (b) reading a program including operation commands, for instructing a series of operations to be executed by the robot, and load condition commands, each representing a load condition for a corresponding operation in the series of operations; (c) reading one of the load conditions stored in step (a) corresponding to a load condition command individually read from the program in step (b), and determining a desired control condition based on the load condition read; and (d) controlling the robot in accordance with the desired control condition determined in step (c).
Claim 3
Dependent Claim
24 words
A method according to claim 1, wherein said robot comprises servomotors for actuating axes of the robot, and servo systems for driving the servomotors.
Claim 4
Dependent Claim
17 words
A method according to claim 2, wherein the control condition comprises response characteristics of the servo systems.
Claim 5
Dependent Claim
26 words
A method according to claim 2, wherein the control condition comprises at least one of proportional, integral and differential gains of each of the servo systems.
Claim 6
Dependent Claim
62 words
A method according to claim 1, wherein the load condition comprises a sum of a weight of a robot hand and a weight of a workpiece, a distance from the center point of a joint of the robot hand to the center of gravity of the robot hand and the workpiece, and a combined inertia of the robot hand and the workpiece.
Claim 7
Dependent Claim
48 words
A method according to claim 1, wherein said storing in step (a) stores each of the load conditions together with a number identifying the load condition, and wherein each of the load condition commands includes a control code, indicating the command relates to load conditions, and the number.
Claim 8
Dependent Claim
48 words
A method according to claim 2, wherein said storing in step (a) stores each of the load conditions together with a number identifying the load condition, and wherein each of the load condition commands includes a control code, indicating the command relates to load conditions, and the number.
Claim 9
Dependent Claim
48 words
A method according to claim 3, wherein said storing in step (a) stores each of the load conditions together with a number identifying the load condition, and wherein each of the load condition commands includes a control code, indicating the command relates to load conditions, and the number.
Claim 10
Dependent Claim
48 words
A method according to claim 4, wherein said storing in step (a) stores each of the load conditions together with a number identifying the load condition, and wherein each of the load condition commands includes a control code, indicating the command relates to load conditions, and the number.
Claim 11
Dependent Claim
48 words
A method according to claim 5, wherein said storing in step (a) stores each of the load conditions together with a number identifying the load condition, and wherein each of the load condition commands includes a control code, indicating the command relates to load conditions, and the number.
References Cited (Backward Citations)
US4873476A
Cited
US4860215A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1993-09-10 | 1994-03-12 | 1994-09-11 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1997-09-10 | 1998-03-12 | 1998-09-11 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2001-09-10 | 2002-03-12 | 2002-09-11 | $7700.00 | Window Closed / Lapsed |