Abstract: A robot visual-tracking method in which the precision of a tracking movement of a robot is improved using a visual sensor. A count value N (0) of a pulse coder is stored when a sensor detects a workpiece. Then, arrival of the workpiece at a taught photographing position is detected based on an incremental quantity from the count value N (0) of the pulse coder, and the workpiece is photographed by a camera. A deviation is obtained between positions of two points Wa and Wb on the workpiece and the reference positions thereof. When the workpiece arrives at a tracking start position L1, a tracking coordinate system .SIGMA.tr starts to move and tracking operations of the robot are started. In the tracking operation, the robot position is corrected to compensate the detected deviation amount. The robot approaches the workpiece W to meet with it and grips the workpiece W by a hand when the workpiece W reaches a position Q0.
Abstract: A method of generating machining conditions for a numerically controlled machine tool in which a machining is under proper machining conditions without altering the initial machining program even when it has become necessary to change the material of workpiece after completing a machining program. The method comprises the steps of dividing a function for determining machining conditions including a spindle rotational speed and a tool feed speed into a first part of the function independent of the material of a workpiece and a second part of the function dependent on the material of the workpiece.
Type:
Grant
Filed:
January 31, 1994
Date of Patent:
March 21, 1995
Assignee:
Faunc Ltd.
Inventors:
Teruyuki Matsumura, Yuji Deguchi, Kota Miyamoto