发明申请
- 专利标题: Robot controller
- 专利标题(中): 机器人控制器
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申请号: US11311351申请日: 2005-12-20
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公开(公告)号: US20060149421A1公开(公告)日: 2006-07-06
- 发明人: Kazuhiko Akiyama , Hirohiko Kobayashi
- 申请人: Kazuhiko Akiyama , Hirohiko Kobayashi
- 专利权人: FANUC LTD
- 当前专利权人: FANUC LTD
- 优先权: JP2004-368977 20041221
- 主分类号: G06F19/00
- IPC分类号: G06F19/00
摘要:
A robot controller is disclosed in which a specific target position is predetermined in order to define approaching and leaving paths for a robot hand, and a plurality of different path patterns are stored in a path pattern storage means as the approaching and leaving paths along which the robot hand approaches and leaves the predetermined specific target position. Next, based on a workpiece position detected by a visual sensor, one of the path patterns stored in the path pattern storage means is selected, and the selected path pattern is modified so that the target position of the robot hand is coincident with the actual workpiece position. The modified path pattern is defined as revised approaching and leaving paths and the robot hand is moved along the revised approaching and leaving paths.