Title:
PALLETIZING/DEPALLETIZING CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/1990/003935
Kind Code:
A1
Abstract:
A palletizing/depalletizing control method for robots which load and unload works to and from the bottom points in alignment. A position data file (PFL) inclusive of a number for designating an operation pattern for every bottom point is prepared, an operation pattern file (AFL) for specifying an operation pattern in response to said number is prepared and is registered onto a memory (13), a predetermined position data file (PFL) is designated from the robot operation program (RBP), the position (lattice point) of the work to be handled by the robot is calculated from the data of bottom points contained in said position data file, and a path formed by the operation pattern file (PFL) designated for the bottom point just under the lattice point is so shifted as to pass through said lattice point, in order to determine the practical robot path.
Inventors:
KAWAMURA HIDEAKI (JP)
ISHIKAWA HARUYUKI (JP)
ISHIKAWA HARUYUKI (JP)
Application Number:
PCT/JP1989/001030
Publication Date:
April 19, 1990
Filing Date:
October 06, 1989
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
B25J9/16; B65G61/00; (IPC1-7): B65G61/00; B25J9/16
Foreign References:
| JPS59102583A | 1984-06-13 | |||
| JPS6165791A | 1986-04-04 | |||
| JPS63169279A | 1988-07-13 | |||
| JPS63232987A | 1988-09-28 | |||
| JPS63278104A | 1988-11-15 |
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