Method of detecting a position of a robot
US5272648A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Apr 6, 1992 |
| Grant date | Dec 21, 1993 |
| Priority date | — |
| Expiry date | Apr 6, 2012 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01D5/2451
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
There is disclosed a position detection method of a robot which provides two incremental position transducers mounted to a robot axis in interlocked relationship with each other and rotatably to produce pulse signals having the number different from each other in response to a moving distance of the moving robot axis and detects a difference between the numbers of pulses produced from the position transducers to detect the position of the robot. Further, a difference (P.sub.2i) of the pulse number between reference pulses produced from the two position transducers at any position of the moving robot axis is calculated and the pulse number (i) of a next reference pulse from a reference position is then calculated on the basis of i=(P.sub.1 -P.sub.2i)/(P.sub.1 -P.sub.2) where P.sub.1 and P.sub.2 are the numbers of pulses produced during one rotation of the position transducers, respectively, so that P.sub.1 .times.i is calculated to detect a position of the robot axis. Accordingly, the moving distance necessary for detection of the reference point can be greatly shortened to less than two rotations of the position transducer and the time required for detection of the reference point …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.