公开(公告)号：WO1989005486A1

公开(公告)日：1989-06-15

申请号：PCT/JP1988001208

申请日：1988-11-29

Applicant: FANUC LTD ,  MIZUNO, Toru ,  ISHIKAWA, Haruyuki ,  TAKAHASHI, Kenji

Inventor： FANUC LTD

IPC: G05B19/42

CPC classification number: G05B19/4182 ,  G05B19/42 ,  Y02P90/083

Abstract: A method of controlling arcuate tracking capable of executing, according to a simple teaching, the robot operation along a predetermined working path for a work that turns while being placed on a turntable. A target moving position on the locus of working points is taught under the condition where the turntable is at rest, and the working point is moved (S12 to S18) to a first divide point obtained by dividing the distance between the tracking start position and the target moving position when the operation of the robot is resumed. When the working point moves to a second divide point (S20), the second divide point is corrected (S15) depending on the amount of turn of the work from the time when the tracking is started. When moved to the next target moving position (S19), the target position is corrected (S9) depending upon the amount of turn of the work from the time when the tracking is started, and the working point is moved to the divide points while the divide points are being corrected. The aforementioned operation is repeated to move the operation point along a desired path, and a predetermined robot operation is completed.

Abstract translation: 一种控制弓形跟踪的方法，其能够根据简单的教导，沿着预定工作路径执行机器人操作，以便在被放置在转台上时转动。 在转盘静止的状态下，将工作点移动（S12〜S18）到通过将跟踪开始位置和跟踪开始位置之间的距离除除而获得的第一分割点，教导工作点轨迹上的目标移动位置 恢复机器人的操作时的目标移动位置。 当工作点移动到第二分割点（S20）时，根据跟踪开始时的作业的转动量来修正第二分割点（S15）。 当移动到下一个目标移动位置时（S19），根据起动时跟踪开始时的作业的转弯量来修正目标位置（S9），并且工作点移动到分割点，同时 分数点正在纠正。 重复上述操作以沿着期望的路径移动操作点，并且完成预定的机器人操作。

公开(公告)号：WO1982002437A1

公开(公告)日：1982-07-22

申请号：PCT/JP1981000383

申请日：1981-12-16

Applicant: FUJITSU FANUC LTD ,  INABA HAJIMU ,  SAKAKIBARA SHINSUKE ,  NIHEI RYO

Inventor： FUJITSU FANUC LTD

IPC: G05B19/42

CPC classification number: B25J9/1602 ,  B25J9/161 ,  G05B19/42 ,  G05B2219/40087 ,  Y02P90/083

Abstract: When the hand of a robot at a present position (P u) holds workpieces (W u, W u, W u) at a first target position (P u) and then moves the workpieces to a second target position (P u), if a sensor contacts the workpiece while the hand moves on the way (P u from the present position (P u) to the first target position (P u), a robot-control unit stops the hand by decelerating over a predetermined distance immediately, or after moving a predetermined distance, and then makes it hold the work. After that, the hand is moved to the second target position (P u), neglecting the residual distance to be moved from the stop position of the hand to the first target position (P u).

Abstract translation: 当在当前位置（P u）的机器人的手在第一目标位置（P u）上保持工件（W u，W u，W u）时， 然后将工件移动到第二目标位置（P uu），如果传感器在路上移动时（P u u u从当前位置（P u））移动到 第一目标位置（P u），机器人控制单元通过在预定距离上立即减速或者在移动预定距离之后停止手，然后使其保持工作，之后将手移动到 第二目标位置（P u），忽略从手的停止位置移动到第一目标位置（P u）的剩余距离。