Tracking control method for robot with weaving action
US5887122A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Dec 14, 1995 |
| Grant date | Mar 23, 1999 |
| Priority date | — |
| Expiry date | Dec 14, 2015 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB23K9/1274
- WIPO fieldMachine tools
- WIPO sectorMechanical engineering
Abstract
A method of controlling a robot to perform a weaving action and a tracking action using a non-contact sensor. When a weaving start command with a condition of a cycle Tw is issued, a laser sensor starts scanning in a cycle Tw/2n in synchronism with the start of weaving action, and outputs sensor data for every scanning time to be stored in a memory. After starting the weaving action, the robot performs a weaving action with a welding line as a reference path, until the tool reaches the weaving extreme (Sm, Sn+m, S2n+m, . . . ) or the termination of the weaving according to the weaving condition. Since a timed relationship between the weaving action and the scanning action of the laser sensor is known, the robot position corresponding to detection data can be calculated, based on which it is possible to successively determine a target position of the robot movement by adding a weaving amount for each detection point. The weaving action is synchronized with the scanning of the laser sensor every time the robot reaches the position of the weaving extreme Sm, Sn+m, . . . to pause and the weaving action is continued tracing the welding line as a reference path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.