Abstract: A robot control unit 42 and an image processing control unit (control unit of the image processing apparatus) 43 are incorporated into a robot controller 40. A camera CM is connected to the image processing control unit 43. A main body 1 of a robot is connected to the robot control unit 42 through an amplifier 41. A portable robot teaching pendant 80 connected to the robot control unit 42 is provided with a monitor display, and functions also as a teaching pendant of the image processing apparatus. Therefore, by using the teaching pendant 80, manipulation of image processing, and issuing of an instruction to a program for processing an image can be performed. Furthermore, an image obtained by a camera CM, and information relevant to the manipulation of the image processing apparatus such as an operation menu, etc. can be displayed on the monitor display. Therefore, an operator can efficiently perform all operations relevant to the robot, the camera, processing an image, etc. while watching a monitor screen.

Abstract: There is provided a measurement device being capable of obtaining an image being free from a distortion even if the position of a measurement object varies in image pickup and being capable of performing a precise measurement according to the image. Camera calibration is executed by using a dot pattern or the like, and parameters of a camera model are stored (S1). The image of a reference object is fetched (S2), a corrected reference image being free from a lens distortion and a distortion caused by image pickup in a diagonal direction is formed on the basis of the equation of the camera model (S3), and parameters for detecting the measurement object are set in accordance with the image (S4). In a system operation, the image of the measurement object, the position of which varies, is acquired (S5), and the corrected reference image being free from a distortion as in S3 is formed (S6).

Abstract: A robot controller capable of finding a mistaught path and avoiding dangers involved in a real motion of a robot without using an off-line simulation system. An operation program for confirming safety is played back with the robot control system arranged such that a simulation function is on, a real motion is off, and comparison processing is on. When a played-back path designated by each block is compared with a reference path using data on interpolation points, an interpolation point ordinal index i is incremented by “1” (K1), an interpolation point on a reference path Tref(i) is read (K2) and compared with a corresponding interpolation point on the played-back path T(i). An index of distance d(i) and a distance evaluation index &Dgr;d(i) are calculated (K3, K4), and tool-tip orientation difference indices f(i) to h(i) and orientation-evaluation indices &Dgr;f(i) to &Dgr;h(i) are calculated (K5, K6).

Abstract: A method for executing calibration without having to dismount a force sensor from a robot, and an apparatus for executing this method are provided. When a robot mounted with a calibrated force sensor begins to be operated, any tool whose position of the center of gravity and weight are immune from change is fitted, and a command for acquiring reference data is given to execute operational programs. Reference data V0 of matrices consisting of differences between strain gage outputs (S1, S2) of the force sensor in any predetermined posture and strain gage outputs in other predetermined postures differing both from that posture and from one another are calculated and stored (S3-1 to S7). When the measuring accuracy of the force sensor drops, the tool used when the reference data were acquired is mounted on the robot, and the same procedures S1 to S6 are executed, and the data V0 corresponding to the reference data are calculated.

Abstract: A method for executing calibration without having to dismount a force sensor from a robot, and an apparatus for executing this method are provided. When a robot mounted with a calibrated force sensor begins to be operated, any tool whose position of the center of gravity and weight are immune from change is fitted, and a command for acquiring reference data is given to execute operational programs. Reference data V0 of matrices consisting of differences between strain gage outputs (S1, S2) of the force sensor in any predetermined posture and strain gage outputs in other predetermined postures differing both from that posture and from one another are calculated and stored (S3-1 to S7). When the measuring accuracy of the force sensor drops, the tool used when the reference data were acquired is mounted on the robot, and the same procedures S1 to S6 are executed, and the data V′0 corresponding to the reference data are calculated.

Abstract: A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated bolt laying in a standard position. The position of the robot's hand is corrected according to the deviation from the standard position before the robot attempts to pick up the located isolated bolt. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and a new isolated bolt is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts using a three-dimensional visual sensor. The oscillating excitation can also be provided by a robot.

Abstract: A force-controlled robot system with a visual sensor capable of performing a fitting operation automatically with high reliability. A force sensor attached to a wrist portion of a robot detects force in six axis directions for force control, and transmits the results of detection to a robot controller. Position and orientation of a convex portion of a fit-in workpiece held by claws of a robot hand and position and orientation of a concave position of a receiving workpiece positioned by a positioning device are detected by a three-dimensional visual sensor including a structured light unit SU and an image processor in the robot controller, and a robot position to start an inserting action is corrected. Then, the convex portion is inserted into the concave portion under the force control. After the inserting action completes, it is determined whether or not the insertion state of the fit-in workpiece in the receiving workpiece is normal.

Abstract: A method for determining time constants for acceleration and deceleration of a servomotor to be set in preparing a track program for an industrial robot. In setting the time constants, they are calculated in consideration of torques generated due to interference with other axes, which is caused as a plurality of axes are actuated simultaneously when the robot moves on desired tracks. As a result, the torques will not be saturated despite influences, if any, of interference torques, so that there is no possibility of tracks being deflected, and cycle times can be shortened by assigning relatively short time constants in the case where the influences of the interference torques are not substantial.

Abstract: A method of obtaining a force of each axis of a robot from the product of positional deviation and positional gain. A vector having components of the forces as many as the number of axes is defined and transformed into a vector on the base coordinate system. Based on the vector, a normal line vector on the profiling object plane is determined. The attitude of the robot is controlled so that the direction of the normal line vector may coincide with the Z axis of the tool coordinate system. Next, the positional gain of each axis, which would serve to make the force in the direction of the normal line vector constant, is determined, with the position deviation fixed. Further, the tangential direction of the moving path at the position is obtained, and the moving target position of the robot is determined in that direction.

Abstract: An attitude control method of a visual sensor (3) utilized for a robot (1), with the object of simplifying the teaching operation for adjusting the attitude of the visual sensor, enabling continual control of sensor attitude, and obtaining highly reliable measuring accuracy of the sensor for detecting positions of objects. The positions of a starting point and an end point on a path of the tool (2) through which the tool moves are taught. The initial attitude data representing the attitude at the starting point of the visual sensor (3) are memorized. The moving attitude data representing the attitude of the visual sensor when the tool moves through the path are periodically sampled and memorized. The attitude of the sensor (3) is controlled so that the attitude of the sensor after sampling the moving attitude data at each sampling time matches the attitude represented by the initial attitude data, based on both the initial attitude data and the moving attitude data.

Abstract: A method of tracking a robot with respect to a circularly moving workpiece W. When a workpiece on a disc-shape conveyer remains stationary at a reference position W0, positions P0 and Q0 are taught to the robot in a stationary coordinate system .SIGMA.0 and the robot is placed on stand-by at a position A. The angular displacement of the disc-shape conveyer is detected by a pulse encoder and counting of the output pulses starts when the workpiece W arrives at the reference position W0. A CPU of a robot controller reads the counted amount in a short cycle and transforms it into a rotation amount .theta. of the conveyer from the reference position. Updating of matrix data for setting a rotary coordinate system .SIGMA.rot based on the rotation amount .theta. is repeated.

Abstract: The present invention relates to a method of and apparatus for indicating the number of blanks to be introduced for products which are classified into ranks according to their properties. The invention also relates to a manufacturing system for manufacturing products using the method.

Abstract: A method of controlling a robot with a supplementary axis, whereby a tool center point (TCP) of the robot is controlled in response to a movement of the supplementary axis. The supplementary axis is moved manually (S1), and the resulting coordinate position of the supplementary axis is read (S2), the coordinates and posture of the tool center point (TCP) that keep the position and posture of the supplementary axis in relation to the robot tool center point (TCP) unchanged are determined (S3), and the tool center point (TCP) is moved to the determined position and posture are changed accordingly. Thus, the relationship between the position of the supplementary axis, such as a table or the like, and the position and posture of the tool center point (TCP) remains unchanged.

Abstract: The robot is started after a groove line of a workpiece to be welded is taught to the robot as a target movement locus for the distal end of a welding torch, by using a fixed coordinate system. A control unit of the robot calculates a position (Pi) of an individual interpolation point in the fixed coordinate system in accordance with data specified in a program (S5), and successively calculates corrected positions Pi' (Xi+.SIGMA.xr', Yi+.SIGMA.yr', Zi+.SIGMA.zr') of respective interpolation points by using a cumulative value of correction amounts (S8). The correction amounts are obtained through transformation of an output of a visual sensor, representing a deviation of a current moving position of the torch from the groove line in a predetermined coordinate system defined by the current position and a current moving direction of the torch end, into a correction amount in the fixed coordinate system.

Abstract: Spinning pitch for carbon fibers, which (1) has a glass transition temperature width of at most 60.degree. C. as measured by a differential scanning calorimeter, (2) contains at least 80% by volume an optically anisotropic phase, and (3) shows a shear viscosity of 200 poise at a temperature of from 270.degree. to 370.degree. C.

Abstract: A tool center point setting method for a robot, capable of accurately and easily setting the tool center point without the need to remove a tool from the robot. After a tool (50) is mounted to a tool mounting surface (34), the tool center point (51) is set at the tool mounting surface center (35) by a robot control unit, and the robot is manually operated to position the tool center point at a reference point (61), this positioned state being taught. The robot control unit determines a matrix P1 based on the taught data. The tool center point is then set at a set point (36), and the robot is manually operated to position the set point at the reference point, the positioned state being taught. A matrix P2' is determined based on the taught data, and a transformation matrix TCP for conversion from a tool mounting surface coordinate system (200) to a tool coordinate system (300) is determined by equation TCP=P1.sup.-1 .multidot.P2'.

Abstract: A method of preparing a mirror image program and for providing mirror image drive of a robot. The method according to the present invention is capable of determining a mirror image attitude which is symmetrical with a tool attitude with respect to a mirror plane.On the basis of a teaching program prepared by a first robot, which responds to an operator's input of teaching points and the operator's setting of a mirror coordinate system, a second robot effects a coordinate transformation by calculating the product (M.sup.-1 P) of an inverse matrix M.sup.-1) of a matrix (M) representing the mirror coordinate system and a matrix (P) representing a teaching point in a fixed coordinate system, and inverts respective sign of components, perpendicular to the mirror plane, of an attitude vector and a position vector in the product (M.sup.-1 P) in order to obtain a matrix ((M.sup.-1 P)'), and further obtains and stores the product ((M(M.sup.-1 P)') of the matrix ((M.sup.-1 P)') and the matrix (M).

Abstract: A vertical revolute joint robot having an offset wrist, which is capable of rapidly calculating respective joint angles on the basis of a target position and orientation of an end effector, and hence is excellent in operation accuracy.A robot arm consists of first to third links, and the joint axis (Y0) of a first joint (1), which couples a base fixedly disposed within an operation space to the first link, extends perpendicularly to the axis of the base, whereas the joint axis (Z1) of a second joint (2), which couples the first and second links to each other, extends along the axis of the first link. The third link is mounted with a wrist offset relative to the arm, and an end effector is mounted on the offset wrist. A computer provided in the robot calculates a fist joint angle (.theta.

Abstract: An acceleration/deceleration control apparatus for servo control is provided, which is capable of securely restraining vibration of servomotors for use as drive sources for various machines.The acceleration/deceleration control apparatus comprises acceleration/deceleration control sections as many as servomotors mounted in a machine, and each acceleration/deceleration control section includes first to third acceleration/deceleration filters each composed of a predetermined number of delay units and connected in series with one another. The first to third filters deliver outputs (Pb, Pc, Pd) to a corresponding one of the second and third filters and a servo circuit, each of the outputs being obtained by dividing the sum of stored values of the delay units of each filter and a corresponding one of a commanded speed (Pa), a first output (Pb) and a second filter output (Pc) by the sum of a value of "1" and the number of units.

Abstract: A method for acceleration and deceleration control of servomotors always brings out the maximum operating capability of a machine equipped with servomotors, such as a robot, NC machine tool, etc. and accurately moves a respective operating section of the machine, e.g., robot work point, tool, etc., along a commanded path. When a command is read from a program, the speed command value is divided by a maximum allowable (Am) of the machine, set previously, to determine a time constant (T) for acceleration and deceleration control (Step S2), and the time constant is divided by a sampling period to obtain a number (n) of times of commanded speed sampling (Step S3). The servomotor is driven at a controlled speed after the acceleration/deceleration process. The controlled speed is obtained by dividing a sum of a commanded speed of the current sampling period and commanded speeds sampled in the previous (n-1) periods preceding the current period, by the number (n) of times of sampling.