发明授权
- 专利标题： Method of generating robot control axis position data
- 专利标题（中）： 生成机器人控制轴位置数据的方法
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申请号： US6149申请日： 1993-01-19
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公开(公告)号： US5327057A公开(公告)日： 1994-07-05
- 发明人: Hajimu Kishi , Kunio Tanaka , Shinsuke Sakakibara
- 申请人： Hajimu Kishi , Kunio Tanaka , Shinsuke Sakakibara
- 申请人地址： JPX Minamitsuru
- 专利权人： Fanuc Ltd.
- 当前专利权人： Fanuc Ltd.
- 当前专利权人地址： JPX Minamitsuru
- 优先权： JPX59-220081 19841019
- 主分类号： B25J9/22
- IPC分类号： B25J9/22 ; B25J9/10 ; B25J9/18 ; G05B19/4093 ; G05B19/41 ; G05B19/19
摘要：
The present invention relates to a method of generating data indicative of robot control axis position. The method has a step of inputting data specifying the shape of a workpiece (WK) and data (.alpha., .beta., .gamma.) specifying the attitude of a tool (TL) conforming to a task to be executed by a robot, a step of calculating a position (X, Y, Z) of a tip (P) of the tool in the workpiece coordinate system X-Y-Z by using the data specifying the workpiece shape, a step of specifying the position of each axis constituting the robot by using the tool tip position and the tool attitude data, and a step of successively specifying positions of each control axis of the robot along a tool path (PT).
公开/授权文献
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