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公开(公告)号：US20180215034A1
公开(公告)日：2018-08-02
申请号：US15420777
申请日：2017-01-31
Applicant: FANUC AMERICA CORPORATION
Inventor： Min Ren Jean , Ganesh Kalbavi , Sai-Kai Cheng
Abstract: A method for controlling motion of a robot relative to a conveyor flow direction of a moving conveyor includes the steps of: establishing a tracking frame for coordinating a position and movement of the robot relative to an object support surface of the conveyor; setting an upstream boundary perpendicular or skewed to a conveyor flow direction of the conveyor; setting a downstream boundary perpendicular or skewed to the conveyor flow direction; optionally setting a circular boundary partially overlapping the upstream boundary and the downstream boundary, wherein the upstream boundary, the downstream boundary and the circular boundary are positioned to define a picking area relative to the support surface; and operating the robot to pick objects from the picking area.
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公开(公告)号：US10414043B2
公开(公告)日：2019-09-17
申请号：US15420777
申请日：2017-01-31
Applicant: FANUC AMERICA CORPORATION
Inventor： Min Ren Jean , Ganesh Kalbavi , Sai-Kai Cheng
IPC: B25J9/00 , G05B19/418
Abstract: A method for controlling motion of a robot relative to a conveyor flow direction of a moving conveyor includes the steps of: establishing a tracking frame for coordinating a position and movement of the robot relative to an object support surface of the conveyor; setting an upstream boundary perpendicular or skewed to a conveyor flow direction of the conveyor; setting a downstream boundary perpendicular or skewed to the conveyor flow direction; optionally setting a circular boundary partially overlapping the upstream boundary and the downstream boundary, wherein the upstream boundary, the downstream boundary and the circular boundary are positioned to define a picking area relative to the support surface; and operating the robot to pick objects from the picking area.
