Title:
COORDINATE CONVERSION CONTROL METHOD OF INDUSTRIAL ROBOT
Document Type and Number:
Japanese Patent JPS6188307
Kind Code:
A
Abstract:
PURPOSE:To compensate a locus as being taught by making a mechanical constant used for coordinate convertion from a command pulse data into an absolute coordinate different from a mechanical constant used for inversion from the absolute coordinate into a pulse data. CONSTITUTION:Arms 11, 12 shown in broken lines are arms of a robot used at teaching and have a mechanical constant A. Arms 1, 2 shown in a solid lines are arms of the robot used at playback and have a mechanical constant B. In applying conversion from a pulse (angular) data subject to teaching, the mechanical constant A at teaching is used and in applying inversion, the mechanical constant B at playback is used and a command is issued to the robot so that the operating point at playback is coincident with a point P at teaching. Thus, the locus is compensated in on-line to the robot having different mechanical constant.
Inventors:
OKABAYASHI KAZUO
KAWAI FUMIAKI
TOMOMATSU SHUNJI
KAWAI FUMIAKI
TOMOMATSU SHUNJI
Application Number:
JP21007384A
Publication Date:
May 06, 1986
Filing Date:
October 06, 1984
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK
International Classes:
B25J9/22; B25J9/10; G05B19/18; G05B19/404; G05B19/408; G05B19/42; (IPC1-7): G05B19/42; B25J9/10; B25J9/22; G05B19/18
Domestic Patent References:
| JPS58161004A | 1983-09-24 |
Attorney, Agent or Firm:
Kobori Masashi