US5285525A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Industrial robot control method and apparatus
Assignee: Toyota Motor Corp
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Filing: 1991-02-13
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Granted: 1994-02-08
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Expires: 2011-02-13
Abstract
Abstract A method and apparatus for controlling an industrial robot. Values of θ i for positions/postures of robot axes are determined, when a work mounted to the end of a robot hand is located adjacent to the end of a fixed tool, the tool being separated from the robot. Positions/postures Xi are determined in a reverse representation of the robot base for a coordinate system of the end of the hand, for the values of θ i , by a forward transformation operation by which positions/postures of the end of the hand with respect to the base are determined using the values θ i . Positions/postures T i in a matrix representation of the end of the tool in the coordinate system of the end of the hand are also determined, for the positions/postures of the axes, based on X i and predetermined positions/postures P of the end of the tool using the coordinate system of the base. Intermediate positions/postures T j each between two T i positions/postures are determined, using an interpolation function. Positions/postures X j are determined in a reverse matrix representation of the base using the coordinate system of the end of the hand based on P and T j . Positional values θ j corresponding to positions/postures of the axes and to X j are determined, using a reverse transformation operation. The robot is then driven using θ j .
Inventors
- 👤 Yoichi Nagao
- 👤 Hideaki Ohta
- 👤 Kazuhiko Onoue
- 👤 Hisanori Nakamura
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 17:20
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1602; B25J9/1607; B25J9/06
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
285 words
An industrial robot control method, comprising the steps of: determining positional values θ i corresponding to positions/postures of a plurality of axes of an industrial robot when a work mounted to an end portion of a hand of the robot is located at a position adjacent to an end portion of a tool separated from the robot; determining positions/postures X i in a reverse matrix representation, for the values θ i , of a robot base of the robot with respect to a coordinate system of the end portion of the hand by means of a forward transformation operation by which positions/postures of the end portion of the hand with respect to the robot base are determined using the values θ i ; determining positions/postures T i in a matrix representation, for the positions/postures of the axes, of the end portion of the tool with respect to the coordinate system of the end portion of the hand, on the basis of the positions/postures X i and predetermined positions/postures P in a matrix representation of the end portion of the tool with respect to the coordinate system of the robot base; determining intermediate positions/postures T j each between two of the positions/postures T i , using an interpolation function; determining positions/postures X j in a reverse matrix representation of the robot base with respect to the coordinate system of the end portion of the hand, on the basis of the positions/postures P and the positions/postures T j ; determining positional values θ j corresponding to positions/postures of the axes and to the positions/postures X j , using a reverse transformation operation of the forward transformation operation; and driving the robot using the values θ j .
Claim 2
Dependent Claim
285 words
An industrial robot control method, comprising the steps of: determining positional values θ i corresponding to positions/postures of a plurality of axes of an industrial robot when a work mounted to an end portion of a hand of the robot is located at a position adjacent to an end portion of a tool separated from the robot; determining positions/postures X i in a reverse matrix representation, for the values θ i , of a robot base of the robot with respect to a coordinate system of the end portion of the hand by means of a forward transformation operation by which positions/postures of the end portion of the hand with respect to the robot base are determined using the values θ i ; determining positions/postures T i in a matrix representation, for the positions/postures of the axes, of the end portion of the tool with respect to the coordinate system of the end portion of the hand, on the basis of the positions/postures X i and predetermined positions/postures P in a matrix representation of the end portion of the tool with respect to the coordinate system of the robot base; determining intermediate positions/postures T j each between two of the positions/postures T i , using an interpolation function; determining positions/postures X j in a reverse matrix representation of the robot base with respect to the coordinate system of the end portion of the hand, on the basis of the positions/postures P and the positions/postures T j ; determining positional values θ j corresponding to positions/postures of the axes and to the positions/postures X j , using a reverse transformation operation of the forward transformation operation; and driving the robot using the values θ j .
Claim 3
Independent Claim
327 words
An apparatus for controlling an industrial robot having a plurality of axes, a robot base and a hand for holding a work at an end portion thereof, the apparatus comprising: detection means for detecting positions/postures of the axes when the work is located at a position adjacent to an end portion of a tool separated from the robot and outputting positional values θ i corresponding to the positions/postures of the axes; drive means for driving the axes; and control means for controlling the drive means in accordance with the values θ i , the control means determining positions/postures X i in a reverse matrix representation, for the values θ i , of the robot base with respect to a coordinate system of the end portion of the hand by means of a forward transformation operation by which positions/postures of the end portion of the hand with respect to the robot base are determined using the values θ i ; determining positions/postures T i in a matrix representation, for the positions/postures of the axes, of the end portion of the tool with respect to the coordinate system of the end portion of the hand, on the basis of the positions/postures X i and predetermined positions/postures P in a matrix representation of the end portion of the tool with respect to the coordinate system of the robot base; determining intermediate positions/postures T j each between two of the positions/postures T i , using an interpolation function; determining positions/postures X j in a reverse matrix representation of the robot base with respect to the coordinate system of the end portion of the hand, on the basis of the positions/postures P and the positions/postures T j ; and determining positional values θ j corresponding to positions/postures of the axes and to the positions/postures X j , using a reverse transformation operation of the forward transformation operation; thus the control means is controlling the driving means using the values θ j .
Claim 4
Independent Claim
327 words
An apparatus for controlling an industrial robot having a plurality of axes, a robot base and a hand for holding a work at an end portion thereof, the apparatus comprising: detection means for detecting positions/postures of the axes when the work is located at a position adjacent to an end portion of a tool separated from the robot and outputting positional values θ i corresponding to the positions/postures of the axes; drive means for driving the axes; and control means for controlling the drive means in accordance with the values θ i , the control means determining positions/postures X i in a reverse matrix representation, for the values θ i , of the robot base with respect to a coordinate system of the end portion of the hand by means of a forward transformation operation by which positions/postures of the end portion of the hand with respect to the robot base are determined using the values θ i ; determining positions/postures T i in a matrix representation, for the positions/postures of the axes, of the end portion of the tool with respect to the coordinate system of the end portion of the hand, on the basis of the positions/postures X i and predetermined positions/postures P in a matrix representation of the end portion of the tool with respect to the coordinate system of the robot base; determining intermediate positions/postures T j each between two of the positions/postures T i , using an interpolation function; determining positions/postures X j in a reverse matrix representation of the robot base with respect to the coordinate system of the end portion of the hand, on the basis of the positions/postures P and the positions/postures T j ; and determining positional values θ j corresponding to positions/postures of the axes and to the positions/postures X j , using a reverse transformation operation of the forward transformation operation; thus the control means is controlling the driving means using the values θ j .
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1997-02-07 | 1997-08-09 | 1998-02-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-02-07 | 2001-08-09 | 2002-02-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-02-07 | 2005-08-09 | 2006-02-08 | $7700.00 | Window Closed / Lapsed |