Robot control system
US4899095A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Feb 25, 1987 |
| Grant date | Feb 6, 1990 |
| Priority date | — |
| Expiry date | Feb 25, 2007 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50353
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A robot control system is provided for teaching the distal end position of a working member mounted on a wrist of a robot and executing a predetermined task. A rotational angle is determined by a calculation control unit (/w) from the projection (/w') of a gripping direction vector of a workpiece. A command for correcting the positional rotation of the tool coordinate system is obtained through simple processing based on information indicative of the position of the workpiece from a sensor. As a result, the position of the tool can be rotatively corrected and controlled, even if the gripping direction vector is not parallel to the surface on which the workpiece is placed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.