公开(公告)号：US20140074289A1

公开(公告)日：2014-03-13

申请号：US14021051

申请日：2013-09-09

Applicant: Fanuc America Corporation

Inventor： Di Xiao ,  Sai-Kai Cheng ,  Randy A. Graca ,  Matthew R. Sikowski ,  Jason Tsai

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1643 ,  G05B2219/40333 ,  G05B2219/40367 ,  Y10S901/03 ,  Y10S901/16 ,  Y10S901/28 ,  Y10S901/43

Abstract: A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.

Abstract translation: 一种用于控制冗余机器人手臂的方法包括以下步骤：使用臂选择用于在工件上执行机器人处理的应用，并且对臂的运动限定至少一个约束。 然后基于所选择的应用程序生成指令集，该应用程序表示通过以示教模式和编程模式之一操作臂来执行附接到臂的机器人工具的路径，以对工件执行机器人处理，并且臂的移动是 在机器人过程中控制。 生成约束算法以将臂上的预定点维持在臂的移动期间的至少一个，接近并且避免在机器人包络中的指定约束，并且生成奇异性算法以避免在 手臂的运动。

公开(公告)号：US09327401B2

公开(公告)日：2016-05-03

申请号：US14021051

申请日：2013-09-09

Applicant: Fanuc America Corporation

Inventor： Di Xiao ,  Sai-Kai Cheng ,  Randy A. Graca ,  Matthew R. Sikowski ,  Jason Tsai

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1643 ,  G05B2219/40333 ,  G05B2219/40367 ,  Y10S901/03 ,  Y10S901/16 ,  Y10S901/28 ,  Y10S901/43

Abstract: A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.

Abstract translation: 一种用于控制冗余机器人手臂的方法包括以下步骤：使用臂选择用于在工件上执行机器人处理的应用，并且对臂的运动限定至少一个约束。 然后基于所选择的应用程序生成指令集，该应用程序表示通过以示教模式和编程模式之一操作臂来执行附接到臂的机器人工具的路径，以对工件执行机器人处理，并且臂的移动是 在机器人过程中控制。 生成约束算法以将臂上的预定点维持在臂的移动期间的至少一个，接近并且避免在机器人包络中的指定约束，并且生成奇异性算法以避免在 手臂的运动。