公开(公告)号：WO1988008350A1

公开(公告)日：1988-11-03

申请号：PCT/JP1988000396

申请日：1988-04-22

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MIZUNO, Tohru ,  KANDA Yuichi

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127

Abstract: When welding is carried out while the welding torch TC of a welding machine is gripped by a robot and woven to the right and left with respect to a weld line, a path correction method of an automatic welding machine in accordance with the present invention comprises the steps of computing an integration value of a welding current for each half cycle of the torch to be woven with respect to a given weld line, deciding a correcting direction, making computation on the basis of the integration value in accordance with the correcting direction thus determined to determine correction quantity, multiplying the correction quantity thus determined by a predetermined coefficient and correcting the weaving path of the torch.

公开(公告)号：WO1987000311A1

公开(公告)日：1987-01-15

申请号：PCT/JP1986000338

申请日：1986-07-01

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: B25J9/161 ,  G05B19/4148 ,  G05B2219/33182 ,  G05B2219/33337 ,  G05B2219/34076 ,  G05B2219/36417 ,  G05B2219/37572

Abstract: A system for controlling articulated robot wherein a cycle which receives serial data from an external instruction device and a cycle which reversely converts the received serial data into correction data on each of the axes from orthogonal coordinates and distributes them, are executed in parallel by first and second operation units (CPU-a, CPU-b) in a robot control unit which is served with control target information on the articulated robot via a serial interface (11), in order to produce in real time a robot drive instruction that corresponds to said control target information maintaining a sufficiently short interpolation interval, and in order to control the operation of each of the axes.

公开(公告)号：WO1988007916A1

公开(公告)日：1988-10-20

申请号：PCT/JP1988000362

申请日：1988-04-09

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ITO, Takayuki

Inventor： FANUC LTD

IPC: B25J09/16

CPC classification number: G05B19/414 ,  G05B19/40936 ,  G05B2219/34346 ,  G05B2219/45083 ,  Y02P90/265

Abstract: This invention relates to a robot controller in which control conditions of a robot are set by a monitor program described in robot language. Usually, a system program is designed exclusively for a particular robot controller and cannot be freely modified by a user. However, part of the system program for always monitoring the operation of the robot is stored in a user region USER, and is opened to the user, so that functions can be deleted, altered or added.

Abstract translation: 机器人控制器，其中机器人的控制条件由机器人语言中描述的监控程序确定。 通常，系统程​​序专为特定的机器人控制器设计，不能由用户自由修改。 在该实施例中，允许对机器人的操作进行持续监视的系统程序的一部分被存储在用户区域“用户”中并且可供用户访问，使得后者可以擦除，修改或添加功能 。

公开(公告)号：WO1987004536A1

公开(公告)日：1987-07-30

申请号：PCT/JP1987000048

申请日：1987-01-26

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40936 ,  G05B2219/35511 ,  G05B2219/36011 ,  G05B2219/36019 ,  G05B2219/36128 ,  G05B2219/36131 ,  Y02P90/265

Abstract: An apparatus for controlling robot which controls a robot according to a program language and is provided with keys and a display unit which displays the data of at least one block. In the data of one block that is displayed, a language to be changed is cyclically selected to arrange desired blocks and the data are directly stored. Therefore, even an unskilled user can easily arrange desired blocks within a short period of time without involving error such as syntax error.

公开(公告)号：WO1992011590A1

公开(公告)日：1992-07-09

申请号：PCT/JP1991001718

申请日：1991-12-16

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  KARAKAMA, Tatsuo ,  NIHEI, Ryo ,  MIURA, Takenobu

Inventor： FANUC LTD

IPC: G05B19/42

CPC classification number: B25J9/1658 ,  G05B19/40936 ,  Y02P90/265

Abstract: An instruction method for a robot operation program capable of easily making a program. Required one of the standard operation programs (61 ~ 6n) for operating a robot in a typical operation pattern is read out from a memory (31c) of a robot controller (30) and is displayed on the screen of an instruction operation board (57). An operator operates the instruction operation board, adds position and speed data, etc, into the standard operation program on the display screen or corrects the data described in advance in the standard operation program. Therefore, operation programs (71, 72) for operating the robot in the typical operation pattern or similar patterns can be generated easily.

公开(公告)号：WO1988005186A1

公开(公告)日：1988-07-14

申请号：PCT/JP1988000010

申请日：1988-01-07

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/237 ,  B25J9/1664 ,  B25J9/1679 ,  G05B2219/40006 ,  G05B2219/50109

Abstract: A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a poistion where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.

Abstract translation: 机器人控制器允许机器人用机械手握住工件，将其堆放在预定位置，或将其从堆叠中移出。 机器人控制器具有用于存储与手的移动有关的多个接近模式的存储器构件（3）。 控制器可以任意地设定从机械手开始移动的位置到工件从堆叠移除的位置的工件堆叠的路径，以及 从活动点到手停止位置的路径，取决于工件类型和活动位置。 控制器还可以改变机械手在活动位置的姿态。

公开(公告)号：WO1988008158A1

公开(公告)日：1988-10-20

申请号：PCT/JP1988000374

申请日：1988-04-15

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  KOSAKA, Tetsuya

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/408

Abstract: A robot controller for programmed control of a robot of the teach reproduction system. The robot controller has an operation control means (CPU) which converts a group of position data included in a plurality of robot instruction data input from a teach operation board into integrated instruction data including other robot instruction data for storage into a data memory (RAM). The controller also compiles the instruction data to prepare an operation program of the robot.

Abstract translation: 机器人控制单元，用于再现学习动作类型的机器人的程序控制。 该机器人控制单元具有转换使用任务学习控制台引入的一组机器人指令数据中包括的一组位置数据的任务控制器（CPU）。 ，包括机器人的其他指令数据的综合指令数据，用于存储在数据存储器（RAM）中。 控制单元还负责编译指令数据以准备机器人的运行程序。