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公开(公告)号：EP0398704A2
公开(公告)日：1990-11-22
申请号：EP90305322.1
申请日：1990-05-17
申请人： FUJITSU LIMITED
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/39322 , G05B2219/49164 , G05B2219/50354
摘要： A robot profile control system is disclosed which permits a force control robot (70) to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours while resetting a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object which is detected by a force detecting section (11). The system comprises a normal vector calculating section (13a) responsive to the force detecting section for calculating a normal vector at a point of contact between the robot end and the work object, a vector in direction of movement calculating section (14a) responsive to outputs of the normal vector calculating section (13a) and a position detecting section (12) adapted to detect the position of the robot end and the position of an end point of the profile operation or a vector in direction of movement of the robot end which is provided from an operator for calculating a vector in direction of movement of the robot end, a control command generating section (15a) responsive to outputs of the normal vector calculating section (13a) and the vector in direction of movement calculating section (14a) for generating control commands for the robot, a force control section (19) responsive to outputs of the control command generating section (15a) and the force detecting section (11) for controlling the force of the robot, and a position control section (18) responsive to outputs of the control command generating section (15a) and the position detecting section (12) for controlling the position of the robot end. The profile coordinate system is defined by a unit vector n in the direction in which the robot end is pressed on the object which coincides with the direction of an inward normal on the surface of the object at a point of contact between the robot end and the object, a unit vector o in the direction of movement of the robot end and a third unit vector a obtained as the outer product of the two unit vectors n and o . The profile coordinate system is reset at regular intervals to continue the profiling operation.
摘要翻译： 公开了一种机器人型材控制系统，其允许力控制机器人（10）在具有未知轮廓的曲面的工件的表面上执行轮廓操作，同时基于作用力的轮廓操作来复位轮廓坐标系 在机械手的端部与由力检测部（11）检测到的作业物体之间。 该系统包括：法向向量计算部，其响应于力检测部，用于计算机器人端与工作对象之间的接触点处的法线矢量;响应于输出的运动方向计算部（14a）的向量 以及位置检测部分（12），其适于检测机器人端部的位置和轮廓操作的终点位置或机器人端部的移动方向上的向量的位置，该位置检测部分 从用于计算机器人端部的移动方向的向量的操作者提供的响应于法线向量计算部（13a）的输出和向运动方向计算部（14a）的矢量的控制指令生成部（15a），用于 产生用于机器人的控制命令，响应于控制命令产生部分（15a）和力检测部分（11）的输出的力控制部分（19），用于连接 拖动机器人的力;以及响应于控制命令产生部分（15a）和位置检测部分（12）的输出的位置控制部分（18），用于控制机器人端部的位置。 轮廓坐标系由在机器人端部被按压在物体上的方向上由单位向量@定义，该方向与物体表面上的向内法线的方向一致，在机器人端部与机器人端部之间的接触点处 对象，机器人端的移动方向上的单位向量@和作为两个单位向量@和@的外积的第三单位向量@。 轮廓坐标系定期复位，以继续轮廓操作。
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公开(公告)号：EP0398704B1
公开(公告)日：1996-08-14
申请号：EP90305322.1
申请日：1990-05-17
申请人： FUJITSU LIMITED
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/39322 , G05B2219/49164 , G05B2219/50354
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公开(公告)号：EP0701187B1
公开(公告)日：2000-08-09
申请号：EP95115879.9
申请日：1990-05-17
申请人： FUJITSU LIMITED
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/39322 , G05B2219/49164 , G05B2219/50354
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公开(公告)号：EP0398704A3
公开(公告)日：1991-01-02
申请号：EP90305322.1
申请日：1990-05-17
申请人： FUJITSU LIMITED
CPC分类号： G05B19/41 , B25J9/1684 , G05B2219/39322 , G05B2219/49164 , G05B2219/50354
摘要： A robot profile control system is disclosed which permits a force control robot (70) to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours while resetting a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object which is detected by a force detecting section (11). The system comprises a normal vector calculating section (13a) responsive to the force detecting section for calculating a normal vector at a point of contact between the robot end and the work object, a vector in direction of movement calculating section (14a) responsive to outputs of the normal vector calculating section (13a) and a position detecting section (12) adapted to detect the position of the robot end and the position of an end point of the profile operation or a vector in direction of movement of the robot end which is provided from an operator for calculating a vector in direction of movement of the robot end, a control command generating section (15a) responsive to outputs of the normal vector calculating section (13a) and the vector in direction of movement calculating section (14a) for generating control commands for the robot, a force control section (19) responsive to outputs of the control command generating section (15a) and the force detecting section (11) for controlling the force of the robot, and a position control section (18) responsive to outputs of the control command generating section (15a) and the position detecting section (12) for controlling the position of the robot end. The profile coordinate system is defined by a unit vector n in the direction in which the robot end is pressed on the object which coincides with the direction of an inward normal on the surface of the object at a point of contact between the robot end and the object, a unit vector o in the direction of movement of the robot end and a third unit vector a obtained as the outer product of the two unit vectors n and o . The profile coordinate system is reset at regular intervals to continue the profiling operation.
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