Title:
CONTROL METHOD FOR INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JP3174218
Kind Code:
B2
Abstract:
PURPOSE: To make it possible to conduct teaching while an operator is unconscious of the inoperable region by generating a point near the boundary of the operable range corresponding to the arm position when the arm position beyond the operable range is to be taught, and using the generated point as a teaching point.
CONSTITUTION: The operable range of an arm is stored. When an operator continuously pushes a Y+ switch starting from P1, the arm changes the direction toward P2 at P6 immediately before going out of the stored operable range and advances by the prescribed distance. When the operator continuously pushes the Y+ switch thereafter, the arm advances to P7 so far as the arm is located within the operable range. When the operator takes a simple action, the system generates the optimum teaching point, and the operability is high.
Inventors:
Katsumi Ishihara
Application Number:
JP8301694A
Publication Date:
June 11, 2001
Filing Date:
April 21, 1994
Export Citation:
Assignee:
Canon Inc
International Classes:
B25J9/22; B25J9/02; B25J19/06; G05B19/42; (IPC1-7): B25J9/22; B25J19/06
Domestic Patent References:
| JP7129214A | ||||
| JP54182A | ||||
| JP5289730A | ||||
| JP6170764A |
Attorney, Agent or Firm:
Yasunori Otsuka (1 person outside)