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公开(公告)号：US5751130A
公开(公告)日：1998-05-12
申请号：US669469
申请日：1996-07-08
申请人： Ryuichi Hara , Atsuo Nagayama
发明人： Ryuichi Hara , Atsuo Nagayama
IPC分类号： B25J9/10 , B25J9/18 , G05B19/18 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/43099
摘要： A method for determining time constants for acceleration and deceleration of a servomotor to be set in preparing a track program for an industrial robot. In setting the time constants, they are calculated in consideration of torques generated due to interference with other axes, which is caused as a plurality of axes are actuated simultaneously when the robot moves on desired tracks. As a result, the torques will not be saturated despite influences, if any, of interference torques, so that there is no possibility of tracks being deflected, and cycle times can be shortened by assigning relatively short time constants in the case where the influences of the interference torques are not substantial.
摘要翻译： PCT No.PCT / JP95 / 02276 Sec。 371日期：1996年7月8日 102（e）日期1996年7月8日PCT 1995年11月7日PCT PCT。 出版物WO96 / 15480 PCT 日期1996年5月23日一种用于在为工业机器人准备轨道程序时设定的伺服电机的加速和减速时间常数的方法。 在设定时间常数时，考虑到由于与其他轴的干涉而产生的扭矩而计算出，这是由于当机器人在期望的轨道上移动时多个轴被同时致动。 结果，即使有干扰转矩的影响，扭矩也不会饱和，从而不会有轨迹被偏转的可能性，并且通过在相对较短的时间常数的情况下分配相对较短的时间常数来缩短循环时间 干扰转矩不大。
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公开(公告)号：US5463297A
公开(公告)日：1995-10-31
申请号：US354027
申请日：1994-12-06
申请人： Ryuichi Hara , Atsuo Nagayama , Hidetoshi Kumiya
发明人： Ryuichi Hara , Atsuo Nagayama , Hidetoshi Kumiya
IPC分类号： B25J9/10 , B25J9/18 , G05B19/18 , G05B19/404 , G05B19/418 , G05B19/42 , G05D3/12 , G05B19/00
CPC分类号： G05B19/4182 , G05B2219/39133 , Y02P90/083
摘要： A method of tracking a robot with respect to a circularly moving workpiece W. When a workpiece on a disc-shape conveyer remains stationary at a reference position W0, positions P0 and Q0 are taught to the robot in a stationary coordinate system .SIGMA.0 and the robot is placed on stand-by at a position A. The angular displacement of the disc-shape conveyer is detected by a pulse encoder and counting of the output pulses starts when the workpiece W arrives at the reference position W0. A CPU of a robot controller reads the counted amount in a short cycle and transforms it into a rotation amount .theta. of the conveyer from the reference position. Updating of matrix data for setting a rotary coordinate system .SIGMA.rot based on the rotation amount .theta. is repeated. When the workpiece W reaches the reference position W0, the CPU executes interpolation calculation for successively determining a target point to which the robot is moved, based on the position data of the waiting position and the position data of teaching points P0 and Q0. The position data obtained by the interpolation calculation in the rotary coordinate system .SIGMA.rot is converted into the position data in the stationary coordinate system .SIGMA.0 and the position of the robot is controlled based on thus obtained position data.
摘要翻译： 跟踪机器人相对于圆周移动的工件W的方法。当盘形输送机上的工件在参考位置W0处保持静止时，位置P0和Q0被教给机器人在静止坐标系SIGMA 0中，并且 机器人被放置在A位置的待机位置。盘形输送机的角位移由脉冲编码器检测，当工件W到达参考位置W0时，输出脉冲的计数开始。 机器人控制器的CPU在短周期内读取计数量并将其从参考位置转换成输送机的旋转量θ。 重复基于旋转量θ更新用于设置旋转坐标系SIGMA rot的矩阵数据。 当工件W到达基准位置W0时，CPU基于等待位置的位置数据和示教点P0和Q0的位置数据执行用于连续确定机器人移动到的目标点的插值计算。 通过旋转坐标系SIGMA rot中的内插计算获得的位置数据被转换成静止坐标系SIGMA 0中的位置数据，并且基于由此获得的位置数据来控制机器人的位置。
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公开(公告)号：US20060052901A1
公开(公告)日：2006-03-09
申请号：US11217413
申请日：2005-09-02
IPC分类号： G06F19/00
CPC分类号： B25J9/1674 , B25J9/1666 , G05B2219/39097 , G05B2219/39098 , G05B2219/40475
摘要： A robot interference prevention control device reads in advance a teaching program of each robot, calculates a scheduled stop position for each robot when issuing a stop command after n number of interpolation periods from the current interpolation period, and checks whether or not interference would occur at the scheduled stop position of each robot. When the robot interference prevention control device judges that a robot will interfere with another robot, it outputs a stop command at the current interpolation period. Due to this, a stop command is output before n number of interpolation periods from the interpolation period where interference would occur and thereby the occurrence of interference can be prevented.
摘要翻译： 机器人防干扰控制装置预先读取每个机器人的教导程序，在从当前插补期间起n个插补周期之后发出停止命令时，计算各机器人的预定停止位置，并且检查是否在 每个机器人的预定停止位置。 当机器人防干扰控制装置判断机器人将与另一机器人相干涉时，在当前插补期间输出停止命令。 由此，在从发生干涉的插补期间开始n个插补周期之前输出停止指令，能够防止发生干扰。
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公开(公告)号：US5811952A
公开(公告)日：1998-09-22
申请号：US793584
申请日：1997-02-28
申请人： Tetsuaki Kato , Atsuo Nagayama
发明人： Tetsuaki Kato , Atsuo Nagayama
CPC分类号： G05B19/416 , G05B2219/40453 , G05B2219/40523 , G05B2219/43069
摘要： A method of setting an accelerating/decelerating motion of a robot, in which a torque of the robot can be used efficiently without being saturated. In one section of motion, a moving ratio r representing a position which satisfies a condition such that a maximum torque is generated at a position where the maximum torque is needed, is successively and approximately obtained. First, a 0-th approximate solution (initial value) is assumed as .sub.i r.sub.0 =0, and then equations of motion are calculated at the position .sub.i r.sub.0 to obtain an acceleration so as to generate the maximum torque. The position such that the torque becomes maximal when the calculated acceleration is used is obtained as .sub.i r.sub.k+1. The difference .vertline..sub.i r.sub.k+1 -.sub.i r.sub.k .vertline. between the calculated .sub.i r.sub.k+1 and the previously calculated .sub.i r.sub.k is calculated, and it is checked whether or not the difference exceeds a preset very small value .epsilon.. If yes, the processing returns to S3. If no, it is determined and stored as .sub.i rsol=.sub.i r.sub.k+1, the index i is increased by 1 and k is cleared as k=0. If calculation for all the axes has not completed, the processing returns S1. Upon completion of calculation for all the axes, the processing proceeds to S7. In S7, the maximum of .sub.i rsol is defined as rsol, an acceleration in accordance with rsol is obtained for each axis, and a condition for the accelerating motion of each axis is set.
摘要翻译： PCT No.PCT / JP96 / 01819 Sec。 371日期1997年2月28日 102（e）1997年2月28日PCT PCT 1996年7月1日PCT公布。 出版物WO97 / 01801 日期1997年1月16日一种设定机器人的加速/减速运动的方法，其中可以有效地使用机器人的扭矩而不被饱和。 在运动的一个部分中，连续地且大致地获得表示满足在需要最大转矩的位置处产生最大转矩的条件的位置的移动比率r。 首先，假设第0次近似解（初始值）为ir0 = 0，然后在位置ir0计算运动方程，以获得加速度，以便产生最大扭矩。 获得当使用计算的加速度时转矩变为最大的位置为irk + 1。 差异| irk + 1-irk | 在计算出的irk + 1和先前计算的irk之间计算，并且检查该差是否超过预设的非常小的值ε。 如果是，则处理返回到S3。 如果否，则确定并存储为irsol = irk + 1，索引i增加1，k被清除为k = 0。 如果所有轴的计算尚未完成，则处理返回S1。 在完成所有轴的计算后，处理进行到S7。 在S7中，irsol的最大值被定义为rsol，对于每个轴获得与rsol相应的加速度，并且设定每个轴的加速运动的条件。
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公开(公告)号：US6163124A
公开(公告)日：2000-12-19
申请号：US210627
申请日：1998-12-14
申请人： Takayuki Ito , Toru Shirahata , Atsuo Nagayama , Kazuto Hirose
发明人： Takayuki Ito , Toru Shirahata , Atsuo Nagayama , Kazuto Hirose
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , G05B15/02 , G05B19/4067 , G05B19/416 , G05B19/10
CPC分类号： B25J9/16 , G05B19/4067
摘要： A robot controller resolving a path deviation caused in relation to override processing or temporary stop. A motion planning section constituting software of the robot controller forms a motion plan of a robot with no consideration of overriding and outputs it to an interpolation processing section. The interpolation processing section carries out interpolation processing at each period of calculation processing, calculates a motion amount at each ITP and outputs it to a filtering section. An output filtered for acceleration or deceleration control at the filtering section is processed by an overriding processing section having an operational shutter. An output after the processing to which an override value .beta. (0.ltoreq..beta..ltoreq.1) common to respective axes has been applied is constituted by velocity and acceleration respectively multiplied by .beta. and .beta..sup.2. Acceleration or deceleration of two operation is uniformly exhausted at a corner portion where two operation overlap and, therefore, path error is not caused. Even when overriding is changed in passing through the corner portion, operation is similarly carried out. By gradually changing overriding in deceleration and acceleration before and after a temporary stop, path deviation accompanied by a temporary stop can also be resolved.
摘要翻译： 机器人控制器解决与超驰处理或临时停止有关的路径偏差。 构成机器人控制器的软件的运动规划部形成机器人的运动方案，不考虑覆盖，并将其输出到插值处理部。 内插处理部在计算处理的每个周期进行插值处理，计算各ITP的运动量，并将其输出到滤波部。 用于在滤波部分进行加速或减速控制滤波的输出由具有操作快门的覆盖处理部分处理。 分别乘以β和β2的速度和加速度构成了各个轴所共有的超越值β（0 <= =
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公开(公告)号：US20060184278A1
公开(公告)日：2006-08-17
申请号：US11237923
申请日：2005-09-29
IPC分类号： G06F19/00
CPC分类号： B25J9/1664
摘要： A robot movement control method, in which a robot is moved along a smooth path (10, 11) determined based on a teaching path defined to pass a designated starting point (TP4), at least one intermediate point (TP5, TP6) and a terminal point (TP7), is disclosed. The smooth path is determined so that the coincidence between the actual path for robot movement and the teaching path is assured near the starting point (TP4) or the intermediate point.
摘要翻译： 一种机器人运动控制方法，其中机器人沿着基于通过指定起始点（TP 4）的教导路径确定的平滑路径（10,11）移动，至少一个中间点（TP 5，TP 6 ）和终点（TP 7）。 确定平滑路径，使得在起始点（TP 4）或中间点附近确保机器人移动的实际路径与教导路径之间的一致性。
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公开(公告)号：US06212444B1
公开(公告)日：2001-04-03
申请号：US09011740
申请日：1998-02-18
申请人： Tetsuaki Kato , Atsuo Nagayama
发明人： Tetsuaki Kato , Atsuo Nagayama
IPC分类号： G05B1904
CPC分类号： B25J9/1666 , B25J9/1674 , G05B19/4061 , G05B19/425 , G05B2219/39082 , G05B2219/39083 , G05B2219/39085 , G05B2219/39105 , G05B2219/45143 , G05B2219/49137 , Y02P90/087
摘要： A method of preventing interference of an industrial robot in which teaching of an operation program to the robot is easy and interference of the robot with an external cooperative apparatus can be easily avoided. If a current position of a reference point on the robot for detecting interference is outside a common area (S12) and a target position of the reference point is outside the common area (S18), a motion command is outputted to drive the robot. If the target position of the reference point is within the common area, it is determined that whether or not a movable part of the cooperative apparatus is within the common area, and if the movable part is outside the common area, an operation forbidding signal for the cooperative apparatus is turned on and the motion command is outputted to make the robot move. If the movable part of the cooperative apparatus is within the common area, the motion command is withheld till the movable part of the cooperative device moves out of the common area (S4, S5). If the current position of the reference point is within the common area (S12), the operation of the cooperative apparatus is forbidden (S15, S17).
摘要翻译： 能够容易地避免能够容易地避免机器人对机器人的操作程序的教导容易和机器人与外部协作装置的干扰的干扰的方法。 如果用于检测干扰的机器人上的参考点的当前位置在公共区域之外（S12）并且参考点的目标位置在公共区域之外（S18），则输出运动命令以驱动机器人。 如果参考点的目标位置在公共区域内，则确定协作装置的可移动部分是否在公共区域内，并且如果可移动部分在公共区域之外，则禁止信号的操作 开启协作装置，输出运动指令，使机器人移动。 如果协作装置的可移动部分在公共区域内，则停止运动命令，直到协同装置的可移动部分移出公共区域（S4，S5）。 如果参考点的当前位置在公共区域内（S12），则禁止协作装置的操作（S15，S17）。
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公开(公告)号：US20060069466A1
公开(公告)日：2006-03-30
申请号：US11237916
申请日：2005-09-29
IPC分类号： G06F19/00
CPC分类号： B25J9/1682
摘要： A method for controlling the trajectory of a robot, in which, in the cooperative operation of a leading robot having a work tool and a tracking robot gripping a workpiece, the position and the orientation of the work tool may be desirably controlled, even when the interpolative motion is carried out. The robots are cooperatively controlled such that the position and the orientation of a first tool coordinate system set on the work tool attached to the leading robot is moved along a desired trajectory on a second tool coordinate system set on the workpiece gripped by the tracking robot. During a playback operation after a teaching operation, the interpolative position data of the tracking robot is calculated by using the interpolative position data of the leading robot and the relative positions and the relative orientations data of the robots. The invention may be applied to a manual feed. The trajectory may be smoothed by filtering the interpolative position data.
摘要翻译： 一种用于控制机器人的轨迹的方法，其中，在具有作业工具的牵引机器人和夹持工件的跟踪机器人的协同操作中，可以期望地控制作业工具的位置和取向，即使当 进行内插运动。 协同控制机器人，使得设置在连接到领先机器人的作业工具上的第一工具坐标系的位置和取向沿设置在由跟踪机器人抓握的工件上的第二工具坐标系上沿期望的轨迹移动。 在示教操作之后的再现操作期间，通过使用前导机器人的内插位置数据和机器人的相对位置和相对方向数据来计算跟踪机器人的内插位置数据。 本发明可以应用于手动进给。 可以通过过滤内插位置数据来平滑轨迹。
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公开(公告)号：US06097169A
公开(公告)日：2000-08-01
申请号：US51534
申请日：1998-04-13
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch machining method by an industrial robot capable of performing a teaching operation easily and the stitch machining accurately. Instead of teaching switchover points p1, P2, . . . for application and non-application of sealant in sealing as shown in FIG. 5a, a distance n1 of a machining section (where sealant is applied) and a distance n2 of a non-machining section are set to a robot controller as shown in FIG. 5b. The robot controller monitors a travel distance and switches from machining to non-machining and vice versa each time the robot travels the distance n1 and the distance n2, respectively, to thereby effect the stitch machining. As shown in FIGS. 5c and 5g, it is possible to ensure that a start and an end points of each block are positioned in the machining sections n1. Further, as shown in FIG. 5d, the stitch machining can be performed continuously for a plurality of blocks. As shown in FIG. 5f, the stitch machining can be performed in each block with a set number of cycles of machining and non-machining.
摘要翻译： PCT No.PCT / JP97 / 02827 Sec。 371日期：1998年4月13日 102（e）日期1998年4月13日PCT 1997年8月13日PCT公布。 公开号WO98 / 06545 日期1998年2月19日能够容易地进行教导操作的工业机器人的线圈加工方法和精确的线圈加工。 而不是教导切换点p1，P2，。 。 。 用于在密封中施加和不使用密封剂，如图1所示。 如图5a所示，将加工部（施加密封剂）的距离n1和非加工部的距离n2设定为机器人控制器。 5b。 机器人控制器每次机器人分别行进距离n1和距离n2时，监视行驶距离并从加工切换到非加工，反之亦然，从而进行线圈加工。 如图 如图5c和5g所示，可以确保每个块的开始点和终点位于加工部分n1中。 此外，如图1所示。 如图5d所示，针对多个块可以连续进行线圈加工。 如图所示。 如图5f所示，可以在每个程序段中进行加工和非加工循环的设定次数的线圈加工。
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