公开(公告)号：US5590244A

公开(公告)日：1996-12-31

申请号：US374997

申请日：1995-01-18

申请人： Yasuyuki Nakata ,  Akihiko Yabuki ,  Yutaka Yoshida ,  Katsushi Nishimoto

发明人： Yasuyuki Nakata ,  Akihiko Yabuki ,  Yutaka Yoshida ,  Katsushi Nishimoto

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/41 ,  G06F15/50 ,  G05B19/42 ,  G06F15/46

CPC分类号： G05B19/41 ,  B25J9/1684 ,  G05B2219/39322 ,  G05B2219/49164 ,  G05B2219/50354

摘要： A robot profile control system permits a force control robot to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours. The robot profile control system resets a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object. The force is detected by a force detecting section of the robot profile control system.

摘要翻译： 机器人型材控制系统允许力控制机器人在具有未知轮廓的曲面的工件的表面上执行轮廓操作。 机器人轮廓控制系统基于作用于机器人的端部与作业对象之间的力，复位轮廓坐标系。 该力由机器人型材控制系统的力检测部检测。

公开(公告)号：US5732195A

公开(公告)日：1998-03-24

申请号：US693960

申请日：1996-08-07

申请人： Yasuyuki Nakata ,  Akihiko Yabuki ,  Yutaka Yoshida ,  Katsushi Nishimoto

发明人： Yasuyuki Nakata ,  Akihiko Yabuki ,  Yutaka Yoshida ,  Katsushi Nishimoto

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/41 ,  G06F15/50 ,  G05B19/42 ,  G06F15/46

CPC分类号： G05B19/41 ,  B25J9/1684 ,  G05B2219/39322 ,  G05B2219/49164 ,  G05B2219/50354

摘要： A robot profile control system permits a force control robot to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours. The robot profile control system resets a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object. The force is detected by a force detecting section of the robot profile control system.