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US5327057A
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Method of generating robot control axis position data
Assignee: Fanuc Corp
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Filing: 1985-10-18
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Granted: 1994-07-05
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Expires: 2005-10-18
Abstract
Abstract The present invention relates to a method of generating data indicative of robot control axis position. The method has a step of inputting data specifying the shape of a workpiece (WK) and data (α, β, γ) specifying the attitude of a tool (TL) conforming to a task to be executed by a robot, a step of calculating a position (X, Y, Z) of a tip (P) of the tool in the workpiece coordinate system X-Y-Z by using the data specifying the workpiece shape, a step of specifying the position of each axis constituting the robot by using the tool tip position and the tool attitude data, and a step of successively specifying positions of each control axis of the robot along a tool path (PT).
Inventors
- 👤 Hajimu Kishi
- 👤 Kunio Tanaka
- 👤 Shinsuke Sakakibara
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 11:44
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: 6
Claim 1
Independent Claim
161 words
A method of generating and storing robot control axis positions and controlling a robot therefrom, said method comprising the steps of: a) receiving, input to a CAD system, a workpiece shape and a tool attitude conforming to a task to be executed by a robot and storing the workpiece shape and the tool attitude in a RAM; b) calculating, by the CAD system, a tool tip portion in a workpiece coordinate system by using the workpiece shape; c) specifying the position of each axis constituting the robot by using the tool tip position and the tool attitude and storing the position of each axis in the RAM; d) successively specifying positions of each control axis of the robot along a tool path and storing the positions of each control axis along the tool path in the RAM; and e) controlling the robot based on the positions of each control axis of the robot along the tool path stored in the RAM.
Claim 2
Independent Claim
161 words
A method of generating and storing robot control axis positions and controlling a robot therefrom, said method comprising the steps of: a) receiving, input to a CAD system, a workpiece shape and a tool attitude conforming to a task to be executed by a robot and storing the workpiece shape and the tool attitude in a RAM; b) calculating, by the CAD system, a tool tip portion in a workpiece coordinate system by using the workpiece shape; c) specifying the position of each axis constituting the robot by using the tool tip position and the tool attitude and storing the position of each axis in the RAM; d) successively specifying positions of each control axis of the robot along a tool path and storing the positions of each control axis along the tool path in the RAM; and e) controlling the robot based on the positions of each control axis of the robot along the tool path stored in the RAM.
Claim 3
Dependent Claim
41 words
A method according to claim 1, wherein said step d) comprises the substeps of: (d1) receiving, input to the CAD system, the tool path, and (d2) successively specifying the positions of each control axis of the robot along the tool path.
Claim 4
Independent Claim
217 words
A method of generating and storing robot control axis positions and controlling a robot therefrom, said method comprising the steps of: a) receiving, input to a CAD system, a workpiece shape and a tool attitude conforming to a task to be executed by a robot and storing the workpiece shape and the tool attitude in a memory; b) calculating, by the CAD system, a tool tip portion of a tip of the tool in a workpiece coordinate system by using the workpiece shape; c) specifying the position of each axis constituting the robot by using the tool tip portion and the tool attitude and storing the position of each axis in a memory; d) successively specifying positions of each control axis of the robot along a tool path and storing the positions of each control axis along the tool path in a memory, the positions of each control axis specifying the tool attitude including angles α, β, which indicate deviations of a central axis of the tool from the direction of a workpiece normal line at the tool tip position and a twist angle γ indicating an amount of tool tip twist; and e) controlling the robot based on the positions of each control axis along the tool path stored in the memory in said step d).
Claim 5
Independent Claim
217 words
A method of generating and storing robot control axis positions and controlling a robot therefrom, said method comprising the steps of: a) receiving, input to a CAD system, a workpiece shape and a tool attitude conforming to a task to be executed by a robot and storing the workpiece shape and the tool attitude in a memory; b) calculating, by the CAD system, a tool tip portion of a tip of the tool in a workpiece coordinate system by using the workpiece shape; c) specifying the position of each axis constituting the robot by using the tool tip portion and the tool attitude and storing the position of each axis in a memory; d) successively specifying positions of each control axis of the robot along a tool path and storing the positions of each control axis along the tool path in a memory, the positions of each control axis specifying the tool attitude including angles α, β, which indicate deviations of a central axis of the tool from the direction of a workpiece normal line at the tool tip position and a twist angle γ indicating an amount of tool tip twist; and e) controlling the robot based on the positions of each control axis along the tool path stored in the memory in said step d).
Claim 6
Dependent Claim
82 words
A method according to claim 3, further comprising the steps of: f) converting the tool attitude into a tool direction data (P, Q, R) in the workpiece coordinate system; and g) converting data (X, Y, Z, P, Q, R) comprising the tool direction data and data specifying the tool tip position (X, Y, Z) into position data in a coordinate system of the robot on the basis of the type of robot to be controlled and data specifying dimensions of the robot.
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| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
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| 3.5 Years (Year 4) | 1997-07-04 | 1998-01-03 | 1998-07-05 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-07-04 | 2002-01-03 | 2002-07-05 | $3760.00 | Window Closed / Lapsed |
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