公开(公告)号：US20180333852A1

公开(公告)日：2018-11-22

申请号：US15984467

申请日：2018-05-21

Applicant: Fanuc America Corporation

Inventor： Yi Sun ,  Jason Tsai ,  Sai-Kai Cheng ,  James F. Huber

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B19/41815 ,  G05B19/4185 ,  G05B2219/31261 ,  Y10S901/09 ,  Y10S901/16

Abstract: A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.

公开(公告)号：US10773383B2

公开(公告)日：2020-09-15

申请号：US15984467

申请日：2018-05-21

Applicant: Fanuc America Corporation

Inventor： Yi Sun ,  Jason Tsai ,  Sai-Kai Cheng ,  James F. Huber

IPC: B25J9/00 ,  B25J9/16 ,  G05B19/418

Abstract: A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.