초록 ▼

A control system for an industrial robot having a hand which traces a pre-stored standard course defining its position and posture and which has a foresight function. The hand is provided with a tool and a work shape sensor, where the tool and the work shape sensor have a known spatial relationship.

A control system for an industrial robot having a hand which traces a pre-stored standard course defining its position and posture and which has a foresight function. The hand is provided with a tool and a work shape sensor, where the tool and the work shape sensor have a known spatial relationship. The foresight function is realized by a control system comprising temporary storing means for temporarily storing a future position and/or posture data of the tool calculated from a sensed position and/or posture data of the present sensor position. The stored data is output after a delayed time interval when it is compared with a pre-stored standard data. When the difference is small, the data is used to control the future position and/or posture of the hand. When the difference is great, an abnormality process is started.

대표청구항 ▼

A control system for an industrial robot having a hand with a tool and a workpiece shape sensor disposed a predetermined distance in advance of the tool in the direction of travel thereof, a standard course for the tool stored in the system, the sensor being operative to trace the standard stored co

A control system for an industrial robot having a hand with a tool and a workpiece shape sensor disposed a predetermined distance in advance of the tool in the direction of travel thereof, a standard course for the tool stored in the system, the sensor being operative to trace the standard stored course, the system comprising: means for inputting data corresponding to the shape of workpiece in response to the sensing of the workpiece at one sensing point; means for calculating and storing a subsequent position and posture data in a robot coordinate system in accordance with a sensor coordinate system and the position and posture data of the hand in the robot coordinate system for said one sensing point; means for calculating a next target standard position and posture data in accordance with the stored standard course; means for comparing and selecting the stored subsequent position and posture data most proximate to the next target standard position and posture data; means for calculating a difference between the next target standard position and posture data and the selected subsequent position and posture data; means for correcting the stored standard position and posture data in accordance with the stored plurality of subsequent position and posture data; and control means for controlling the position and posture of the hand in accordance with the calculated difference.