Robot with controlled tool tracking displacement
US4967127A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 23, 1989 |
| Grant date | Oct 30, 1990 |
| Priority date | — |
| Expiry date | Jun 23, 2009 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/49362
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A tracking control robot controls its arm end, which holds a tool, to track a taught path so that a reaction force between a workpiece and the tool remains constant. An ideal state for the arm end is determined from the present state of the arm end and the difference between the actual reaction force and a predetermined target force. Then, this ideal state is compared with a reference state of the arm end on the taught path to obtain a target position and a target attitude of the arm end. Since a target position is always determined independently of the last target position, no position error due to time delay affects a new target position even when the next target position is generated before the tool reaches the last target position. Thus, the robot is quick, responsive, and accurate when tracking at a constant operation speed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.