Teaching data generation system for vertical multi-joint robot
US11203117B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 15, 2020 |
| Grant date | Dec 21, 2021 |
| Priority date | — |
| Expiry date | Jul 9, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/42
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A control point extraction unit (1d) is configured to extract, when a center of a joint portion (V) of a fifth rotary shaft (C5) is defined as a control point (A), a position (P1) of the control point (A) for a teaching point (T1) and a position (P2) of the control point (A) for a teaching point (T2). A linear path calculation unit (1e) is configured to calculate a linear path (L) that passes through the position (P1) and the position (P2). An arm movement calculation unit (1f) is configured to generate teaching data (D1) by calculating a movement of an arm (3) to cause the control point (A) to move along the linear path (L) from the position (P1) to the position (P2).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.