Title:
ROBOT CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPS57113115
Kind Code:
A
Abstract:
PURPOSE:To decelerate and stop a robot in movement from a current position to the 1st target position immediately or prescribed-distance movement after a prescribed signal for specifying the operation of the robot is generated, and then to move the robot to the 2nd target position immediately. CONSTITUTION:Robot command data are so generated that a robot hand is moved from a current position P1 to the 1st target position P2 to grip a workpiece and then moved to the 2nd target position P3. A robot operates on the R, Z and theta axes of a cylindrical coordinate system; operation speeds to the P1, P2 and P3 are denoted as V1-V3, and a robot service code for gripping the workpiece is denoted as SOO. The robot commaned data consist of point data PD1- PD3 at respective points P1-P3 as shown in a figure. When a detector touches the workpiece during the movement from the position P1 to the P2, automatic deceleration is performed immediately to stop the hand after movement by distance Ld, and the SOO of the PD2 is read to grip the workpiece in the hand, thereby moving the hand to the 2nd target position P3 immediately.
Inventors:
INABA HAJIME
SAKAKIBARA SHINSUKE
NIHEI AKIRA
SAKAKIBARA SHINSUKE
NIHEI AKIRA
Application Number:
JP18674880A
Publication Date:
July 14, 1982
Filing Date:
December 30, 1980
Export Citation:
Assignee:
FUJITSU FANUC LTD
International Classes:
B25J9/16; B25J9/18; G05B19/42; (IPC1-7): B25J9/00; G05B19/42