Control method and control apparatus for a robot with sensor
US5467003A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jan 12, 1995 |
| Grant date | Nov 14, 1995 |
| Priority date | — |
| Expiry date | Jan 12, 2015 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45104
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A control method and a control apparatus for a robot, in which an operation line position is detected by a sensor, and real-time tracking of the operation line is performed by correcting a taught path with the use of an output signal from the sensor. The weld line position in a region on the travel direction side is sensed by the sensor supported by a robot hand to obtain the position data of sensed point kSm. After the sensed data is converted into coordinate data s(k, m) of a work coordinate system, processing is performed by using data of taught path segment PkPk+1 to which the sensed point kSm belongs. The processed data is stored in a buffer memory of ring memory type together with the coordinate data of the sensed point. The necessary data is read from the buffer memory just before the execution of tracking, to determine the tracking target point in a short period of time. The correction amount of interpolation point or taught point is calculated, and a control output for each axis is generated and sent to a servo control system to move the robot towards the tracking target point.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.