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1.发明公开Method and apparatus for controlling tracking path of working point of industrial robot 失效控制工业机器人工作点跟踪路径的方法与装置
公开(公告)号：EP0381185A3
公开(公告)日：1990-10-03
申请号：EP90101897.8
申请日：1990-01-31
CPC分类号： G05B19/4182 , G05B2219/39063 , G05B2219/39101 , G05B2219/50353 , Y02P90/083 , Y02P90/20
摘要： A method and apparatus for controlling the tracking path of a working element (3) so that the working element moves along a path having a predetermined positional relationship with a working object (5) by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element (1, 2, 4) each being operatively coupled with either the working element or the working object in a prescribed coupling condition. The method and apparatus allot individual coordinate systems (1,a, 3a, 4a, 5a) each having a discriminator to the working element, the working object and the moving elements (1, 2, 4) to provide coordinate systems with the corresponding discriminators (512, 519), set as a coordinate system expressing the data for controlling the movement of the working element a first coordinate system (5a) selected from the coordinate systems, describe, using a second coordinate system (1a) selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points (51, 52) on the tracking path along which the working element is to move on the basis of a prescribed working schedule, store these data together with the discriminators representative of the corresponding coordinate systems, decide in executing a real work if or not the first coordinate system and the second coordinate system are the same from their discriminators, and, if both coordinate systems are different coordinate systems, converts the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system, and control the movement of the working element on the basis of the converted data.
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公开(公告)号：EP0402788B1
公开(公告)日：1996-01-17
申请号：EP90110882.9
申请日：1990-06-08
IPC分类号： G05B19/41
CPC分类号： G05B19/4086
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公开(公告)号：EP0402788A3
公开(公告)日：1992-09-23
申请号：EP90110882.9
申请日：1990-06-08
IPC分类号： G05B19/41
CPC分类号： G05B19/4086
摘要： A method of controlling the movements of a robot (1) having a plurality of degrees of freedom comprises the expression of attitudes of a hand (2) or a working tool fitted to the arm end of the robot, the expression being effected such that base vectors of a rectangular coordinate system (20) fixed to the hand (2) or the working tool are given as coordinate components related to a rectangular coordinate system (10) which is fixed to the pedestal of the robot and which serves as reference, interpolation and movement control being performed on the basis of the data thus obtained. By thus performing control, it is made possible to reduce the real-time calculation processings involved and realize a highly accurate robot movement which is smooth in terms of both time and space.
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4.发明公开Method and apparatus for controlling tracking path of working point of industrial robot 失效Verfahren und Vorrichtung zur Kontrolle der Bearbeitungsspur eines Industrieroboters。
公开(公告)号：EP0381185A2
公开(公告)日：1990-08-08
申请号：EP90101897.8
申请日：1990-01-31
CPC分类号： G05B19/4182 , G05B2219/39063 , G05B2219/39101 , G05B2219/50353 , Y02P90/083 , Y02P90/20
摘要： A method and apparatus for controlling the tracking path of a working element (3) so that the working element moves along a path having a predetermined positional relationship with a working object (5) by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element (1, 2, 4) each being operatively coupled with either the working element or the working object in a prescribed coupling condition. The method and apparatus allot individual coordinate systems (1,a, 3a, 4a, 5a) each having a discriminator to the working element, the working object and the moving elements (1, 2, 4) to provide coordinate systems with the corresponding discriminators (512, 519), set as a coordinate system expressing the data for controlling the movement of the working element a first coordinate system (5a) selected from the coordinate systems, describe, using a second coordinate system (1a) selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points (51, 52) on the tracking path along which the working element is to move on the basis of a prescribed working schedule, store these data together with the discriminators representative of the corresponding coordinate systems, decide in executing a real work if or not the first coordinate system and the second coordinate system are the same from their discriminators, and, if both coordinate systems are different coordinate systems, converts the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system, and control the movement of the working element on the basis of the converted data.
摘要翻译： 一种用于控制工作元件（3）的跟踪路径的方法和装置，使得工作元件通过调节工作元件和工作元件之间的相对位置关系，沿着与工作对象（5）具有预定位置关系的路径移动 通过单独移动的至少一个移动元件（1,2,4）的运动，每个移动元件在规定的耦合条件下可操作地与工作元件或工作物体耦合。 所述方法和装置分配具有对工作元件，工作对象和移动元件（1,2,4）的鉴别器的单独坐标系（1，a，3a，4a，5a），以提供与对应的鉴别器的坐标系 （512,519），其被设置为表示用于控制从所述坐标系中选择的第一坐标系（5a）的所述工作元件的移动的数据的坐标系，使用从所述坐标系中选择的第二坐标系（1a） 根据规定的工作时间表，表示与工作要素在其上移动的跟踪路径上的特定点（51,52）对应的工作元素的位置的数据与这些数据的代表 如果第一坐标系和第二坐标系与它们的鉴别器相同，则相应的坐标系决定执行实际工作，如果两个坐标系 te系统是不同的坐标系，将与特定点相对应的工作元素的位置数据转换为在第一坐标系中表示的数据，并且基于转换的数据来控制工作元件的移动。
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5.发明授权Method and apparatus for controlling tracking path of working point of industrial robot 失效一种用于控制工业机器人的编辑轨道的方法和装置
公开(公告)号：EP0381185B1
公开(公告)日：1998-04-01
申请号：EP90101897.8
申请日：1990-01-31
CPC分类号： G05B19/4182 , G05B2219/39063 , G05B2219/39101 , G05B2219/50353 , Y02P90/083 , Y02P90/20
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公开(公告)号：EP0402788A2
公开(公告)日：1990-12-19
申请号：EP90110882.9
申请日：1990-06-08
IPC分类号： G05B19/41
CPC分类号： G05B19/4086
摘要： A method of controlling the movements of a robot (1) having a plurality of degrees of freedom comprises the expression of attitudes of a hand (2) or a working tool fitted to the arm end of the robot, the expression being effected such that base vectors of a rectangular coordinate system (20) fixed to the hand (2) or the working tool are given as coordinate components related to a rectangular coordinate system (10) which is fixed to the pedestal of the robot and which serves as reference, interpolation and movement control being performed on the basis of the data thus obtained. By thus performing control, it is made possible to reduce the real-time calculation processings involved and realize a highly accurate robot movement which is smooth in terms of both time and space.
摘要翻译： 控制具有多个自由度的机器人（1）的运动的方法包括表示安装在机器人的臂端上的手（2）或工作工具的态度，表达方式使得基座 作为与固定在手（2）或作业工具上的直角坐标系（20）的向量作为与固定在机器人的基座上并作为基准的直角坐标系（10）相关的坐标， 并且基于由此获得的数据执行移动控制。 通过这样进行控制，可以减少所涉及的实时计算处理，实现在时间和空间方面平滑的高精度机器人运动。
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