Title:
【発明の名称】ロボツトの制御方法
Document Type and Number:
Japanese Patent JP2728399
Kind Code:
B2
Abstract:
A method for controlling a working robot which is adapted to grip a workpiece for transporting it to a position where the workpiece is positioned against a working tool to be worked by the tool. The robot is positioned at a work starting position and at a work end position and in each of the positions the tool length vector is calculated. Based on the tool length vector values in the starting and end positions, intermediate tool length vector values are calculated for respective incremental points on a path along which the work is to be done by the tool for carrying out incremental compensations.
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Inventors:
ONOE KAZUHIKO
KASHIKI HAJIME
KASHIKI HAJIME
Application Number:
JP6686387A
Publication Date:
March 18, 1998
Filing Date:
March 19, 1987
Export Citation:
Assignee:
KAWASAKI JUKOGYO KK
International Classes:
B25J9/10; B25J9/18; G05B19/404; G05B19/4103; G05B19/18; G05B19/42; (IPC1-7): G05B19/18; B25J9/10; G05B19/404; G05B19/4103
Domestic Patent References:
| JP5927306A | ||||
| JP59194213A |
Attorney, Agent or Firm:
Nishikyo Keiichiro