Method of detecting and controlling work start point of robot
US4761596A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | May 30, 1986 |
| Grant date | Aug 2, 1988 |
| Priority date | — |
| Expiry date | May 30, 2006 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1684
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method of detecting and controlling a work start point of a robot of the teaching playback control type is disclosed. The robot has an interpolating function and responds to a position sensor, and a work tool is attached to the robot wrist to be accurately positioned to a work start point of a work object. A shadow of the work tool is produced by an illumination source. The work line of the object, the work tool, and the shadow thereof are image-recognized by a visual sensor. The visual sensor generates position correcting signals along the first and second correcting directions on the basis of the image recognized. The edge of the work tool is moved along the first correcting direction in response to a position correcting signal so as to reduce the distance between the work line and an edge of the work tool on the image recognized. The edge of the work tool is moved along the second correcting direction in response to a position correcting signal so as to reduce the distance between the work tool edge and an edge of the shadow of the work tool on the image recognized. The operations to move the work tool edge in the first and second correcting directions are repeated until the w…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.