Abstract: In a handle feeding control method in a numerical control apparatus in which a control axis can be controlled in response to a pulse signal output from a manual pulse generator for generating the pulse signal according to the turning quantity of a manual handle so as to perform handle feeding, at least one of a movement quantity, a target position and a movement range of the control axis is set and stored; and the movement quantity or position of the control axis at the time of the handle feeding is monitored, and pulse signals from the manual pulse generator thereafter when the movement quantity or position of the control axis at the time of the handle feeding reaches the limit of the set and stored movement quantity, target position or movement range are, invalidated so that the movement quantity or position of the control axis at the time of the handle feeding is prevented from exceeding the set and stored movement quantity, target position or movement range.

Abstract: A dual paddle end effector robot is disclosed which is capable of parallel processing of workpieces. The end effector includes a lower paddle rotatably coupled to an end of the distal link, and an upper paddle rotatably coupled to the lower paddle. The lower paddle supports a drive assembly capable of rotating the upper paddle with respect to the lower paddle. In one embodiment of the present invention, the dual paddle end effector robot may be used within a wafer sorter to perform parallel processing of workpieces on a pair of aligners within the sorter. In such an embodiment, the robot may first acquire a pair of workpieces from adjacent shelves within the workpiece cassette. After withdrawing from the cassette, the respective paddles on the end effector may fan out and transfer the wafers to the chucks of the respective aligners.

Abstract: A robot device having a plurality of component units connected together and controller detachably mounted on one of the component units for driving and controlling each the component units in a prescribed state. The control device is easily exchangeable for another control device. The robot device may further include a storing device detachably mounted on the respective component unit for storing desired behavior type information. The storing device is readily exchangeable for another storing device having stored therein different behavior type information.

Abstract: A system and method for controlling a robot (1), includes at least three setting devices (2, 3, 4) which can be extended or shortened in the longitudinal direction. Each setting device being directly or indirectly secured in a fixed frame (6) via a first joint (20, 30, 40) so that each setting device is pivotable in all directions in relation to the frame and that each setting device is attached at one end in a movable position head (8) via a second joint (21, 31, 41). Each sensor is provided with a length sensor (LS1, LS2, LS3), said sensors forming a part of control system (S1) for controlling the location (X, Y, Z), wherein the control system cooperates with a feedback control system (R2) arranged to correct the location (X, Y, Z) and feedback control system (R2) operate in accordance with different coordinate systems.

Abstract: The present invetion involves a tolerance based motion controller. The controller is capable of processing a group of tolerance constraints. The tolerance constraints specify where and when each tolerance constraint is to be applied, along with the information specifying the desired trajectory of motion. There are also a group of velocity constraints, specifying the maximum allowable velocity at each point along the desired trajectory. This information along with sensor feedback is used to modify the velocity along the actual trajectory of motion. This results in the time required traverse the trajectory being as short as possible. Also, the actual trajectory of motion should never exceed the permissible deviation from the desired trajectory, as specified by the tolerance constraints, with the velocity always being bounded by the specified velocity constraint.

Abstract: A mail piece handler defines a paper path having a downstream direction. A first motor is mechanically coupled with the mail piece handler, and an encoder is operatively coupled with the mail piece handler. A mail piece sensor is positioned at the paper path, and a print rotor is positioned at the paper path downstream of the mail piece sensor, the print rotor having a print surface. A second motor is mechanically coupled with the print rotor, and an electronic controller is communicatively coupled with the encoder, with the mail piece sensor, and with the second motor, the controller disposed in the event of sensing of a mail piece by the mail piece sensor to control said second motor so as to cause the print surface of the print rotor to move at substantially a speed measured via the encoder.

Abstract: A robot controller resolving a path deviation caused in relation to override processing or temporary stop. A motion planning section constituting software of the robot controller forms a motion plan of a robot with no consideration of overriding and outputs it to an interpolation processing section. The interpolation processing section carries out interpolation processing at each period of calculation processing, calculates a motion amount at each ITP and outputs it to a filtering section. An output filtered for acceleration or deceleration control at the filtering section is processed by an overriding processing section having an operational shutter. An output after the processing to which an override value .beta. (0.ltoreq..beta..ltoreq.1) common to respective axes has been applied is constituted by velocity and acceleration respectively multiplied by .beta. and .beta..sup.2.

Abstract: Control system for controlling a dynamic physical system. New, substantially decoupled axes are derived from physical axes of a dynamic system. Closed-loop controllers operate on signals representing the new or synthesized axes to control the coordinate parameters. Control signals are then converted into the original physical axes to generate signals to control the original axes. A preferred embodiment is the application of the control technique to a gantry machine having three degrees of freedom. Actual coordinates are converted to one linear coordinate and one rotational coordinate. The bandwidth of controllers operating on these two coordinates are separated so that crosstalk is diminished and performance improved.

Abstract: The present invention relates to a robot path planning method for determining the path of a robot, taking into consideration the bending effect of the robot path when heavy tools are load onto the robot. Specifically, straight line P'-Q' to be actually drawn by the distal end of the robot tool is calculated by using the positions P and Q of the distal end of the tool at the start point and at the end point of the straight line recognized by the robot controller. And, the interpolation points H1', H2', H3', . . . are set on this line P'-Q'. Then, the bending amount .DELTA..theta.pj and .DELTA..theta.qj at the start point P' and at the end point Q' of this line P'-Q' are respectively determined. And, the bending amount at each interpolation point H1', H2', . . . are calculated from these bending amounts .DELTA..theta.pj and .DELTA..theta.qj, and the position on the line P'-Q' of each interpolation point. Then, the values obtained by subtracting from each interpolation point H1', H2', . . .

Abstract: A calibration method enables a visual sensor attached to a robot to be calibrated easily, quickly, and accurately without using a mechanism for accurately setting a calibration jig or a wide jig setting space. First calibration pattern data, which includes the coordinate values of dots composing a dot pattern formed on a pattern plate (3) mounted on the distal end of an arm of a first robot (1), in a common coordinate system is entered in a visual sensor control device (20) by means of a first robot control device (10), and pattern plate image data is delivered from a camera (6), which is mounted on the distal end of an arm of a second robot (4), to the visual sensor control device (20).

Abstract: Control of time-dependent states, such motion, is facilitated in a manner that avoids explicit solution to the governing equations, but which permits specification of both an initial and a final acceleration. This permits the operator to restrict jerk by exerting control over the final acceleration (e.g., by setting this equal to the initial acceleration, or constraining it to within an allowed maximum), but without explicitly computing parameter values for jerk. More generally, the approach is useful in controlling any system in which states evolve with respect to a specific parameter (frequently, but not necessarily, time), and whose evolution can be described by a defined set of algebraic equations.

Abstract: A position control apparatus has a target setting unit for setting a target position in a direction of the control axis of the controlled object able to be moved in directions of a plurality of control axes by moving unit; a position control unit for independently positioning the controlled object to the target position in the direction of the control axis set by the target position setting unit; and a position correcting unit for correcting the target positions in directions of other control axes by compensation amounts for correcting positioning derivation in directions of other control axes occurring when positioning the controlled object to a first target position in the direction of one control axis among the plurality of control axes and then reversing the feed direction from that first target position and positioning to a second target position.

Abstract: Disclosed is a path planning apparatus and method for robots. The apparatus includes a planner which receives target positioning information, performs calculations using this information to obtain an initial speed profile, then outputs the initial speed profile; a low pass filter functioning as an interpolator which receives the initial speed profile from the planner, performs a predetermined operation on the same to obtain a filtered speed profile that is smoother than the initial speed profile, and outputs the filtered speed profile; a servo controller which receives output of the low pass filter and outputs acceleration and deceleration control signals according to the output of the low pass filter, and a servo motor which is controlled by the signals received from the servo controller.

Abstract: A positioning method for a production system for positioning the location of a positioning head (2 12, 27) in relation to a work object, comprising a positioning body (1, 11), e.g. a robot or a machine tool, a positioning control unit (3) for the positioning body (1, 11) and a control data system (4) for the positioning control unit (3), wherein the control data system (4) communicates with a three-dimensional localisation measuring system (6) comprising at least one recording device (7) which determines and adjusts the location of the positioning head (2, 12, 27) in space and a positioning device for a production system for positioning the location of a positioning head (2, 12, 27) in relation to a work object, comprising a positioning body (1, 11), e.g.

Abstract: The present invention provides a method for controlling following error in a robotic system that moves a tool at a velocity along a path defined by an inputted set of vertices. The following error is controlled to be less than a tolerable error allowance. First, a subset of resonant vertices is identified from the inputted set of vertices. Each of the resonant vertices has a neighboring vertex for which a following error that results when the tool negotiates both the vertex and its neighboring vertex at an assigned vertex velocity might exceed the tolerable error allowance. Second, each vertex in the subset of resonant vertices is assigned a reduced vertex velocity. The reduced vertex velocity is selected so that the following error that results when the tool negotiates both the vertex and its neighboring vertex at the reduced velocities is less than the tolerable error allowance.

Abstract: A spindle acceleration/deceleration controlling method in a numerical control unit comprising a spindle control section for controlling a spindle motor and a servo axis controlling section for controlling a servo axis motor, and for synchronously controlling the spindle and servo axis; wherein a spindle motor in the position loop control state is controlled with an acceleration/deceleration pattern similar to that of the spindle motor in the velocity loop control state.

Abstract: The invention relates to a device for displacing an object, which device includes a drive device for moving the object along an axis of motion, a control unit which is coupled to the drive device, a set-point generator which is coupled to the control unit and is arranged to determine from secondary conditions a jerk set profile and set points for a plurality of sampling periods for a trajectory to be traveled and to apply the set points to the control unit per sampling period. A problem solved by the invention consists in that secondary conditions such as, for example the maximum velocity or the desired final position, can be changed during a motion along a trajectory. To this end, during the displacement along the trajectory and in response to a change of the secondary conditions, a jerk set profile and associated set points are derived in the set-point generator from the secondary conditions for the sampling periods as from a sampling period succeeding the change.

Abstract: An object of the present invention is to provide a numerical control unit which commands definition data of free curved line to directly interpolate a free curved line and also holds down various errors which occurs during the aforesaid process within each allowable value. In the present invention, a program 11 which defines a moving locus with a curved line P(t) represented by the given parameter t is decoded and working commands according to the moving locus are outputted to servo systems 12, 13, and 14 to be controlled. In the output, the curved line P(t) of moving locus is interpolated in a curved line interpolating section 16. In the interpolation, an allowable error Emax in working results and error factors .omega.

Abstract: A numerical control apparatus and a numerical control method is provided which permit high-accuracy and high-velocity travel at a joint between paths as well as simple and rapid calculations for this purpose. A path is inserted at the joint between the paths so as to achieve a continuous curvature.

Abstract: A process of generating discrete points to be followed by a cutter during movements of the cutter to machine a workpiece, including a step of operating a computer including a data processor, to select at least one of different discrete point generating conditions stored in a memory of the computer, according to a command entered by an operator of the computer, each discrete point generating condition including at least one requirement that should be satisfied when the discrete points are generated so as to define a cutter path, a step of operating the computer to calculate an interval of the discrete points, according to the selected discrete point generating condition or conditions, and a step of operating the computer to generate the discrete points on the basis of the calculated interval, such that the discrete points are spaced apart from each other by the interval. The discrete point generating conditions may include requirements associated with velocities of the cutter during machining of the workpiece.

Abstract: A manually-operated handwheel interpolation generating device mainly makes use of a set-up of pulse adjuster to be used by the operators to perform smoothing dressing for the handwheel's pulse command when they are using handwheel to perform post-stage precision machining so as to upgrade the precision level and surface roughness of workpieces, and said pulse adjuster comprises a handwheel interpolation generator which mainly makes use of a pulse smoothing dresser to attain the object of smoothing dressing, thereby, the present invention can, under the condition of keeping the total output pulse amount unchanged, effectively improve the non-smooth phenomena of the handwheel's manually-operated machining work and the surface roughness of workpieces.

Abstract: A numerical control apparatus enables a tool to move parallel or vertical to a designated shape to easily carry out a machining of a prototype using general-purpose machine tools. A graphic storing device displays guidance information on a display unit through a graphic control circuit and also stores a designated shape such as an oblique straight line or a circular arc entered by the operator through a keyboard in an interactive fashion. On the detection of a pulse signal HP from a manual pulse generator, an interpolation device reads a changeover signal H/V for commanding one of the parallel movement or the vertical movement of the tool from a changeover device. Then, the interpolation device outputs an interpolated pulse signal CP corresponding to the pulse signal HP and changeover signal H/V in accordance with the designated shape stored in the graphic storing device and supplies the interpolated pulse signal HP to an axis control circuit.

Abstract: Methods and systems consistent with the invention generate a motion profile of a motor. A reference acceleration profile, a reference velocity profile, and a reference displacement profile are first defined. Displacement-velocity data defining displacement data with respect to velocity data is then stored in a memory. A plurality of conversion constants which include a maximum velocity ratio K1, a maximum acceleration ratio K2, and a displacement conversion constant K3, are calculated, are then calculated using following equations: ##EQU1## where A.sub.max represents a maximum acceleration value in the reference acceleration profile, V.sub.max represents a maximum velocity value in the reference velocity profile, a.sub.max represents a maximum acceleration value in the generated profile, and V.sub.max represents a maximum velocity data in the profile to be generated. The system then determines a position data of the motor and maps the position data into a reference displacement data.

Abstract: A robot control method capable of eliminating any influence of motion in a preceding path section to assure an accurate path movement with respect to a portion of a path section toward an end point. In a motion statement, a path-assurance section is previously designated in terms of length, time or path-assurance ratio for a moving path ?2!.fwdarw.?3!. A path motion plan EFGH for the moving path ?2!.fwdarw.?3! is created so that a path section represented by DHGK is the path-assurance section designated in the motion statement, assuming that D represents a terminal point of the motion along the moving path ?1!.fwdarw.?2!. Consequently, an influence of motion of the moving path ?1!.fwdarw.?2! is not exerted on the motion after a point in time represented by D or K, to assure a movement on the path ?2!.fwdarw.?3! in the path-assurance section.

Abstract: A tool T is mounted to the tip of the rotatable main shaft S, and at least the rotation angle of the main shaft S is controlled so that the edge of the tool T is always maintained at the right angle against the direction of the tool movement on the machining program locus, when a work W is machined with the edge T.sub.A of the tool T in the state that the edge T.sub.A of the tool T is offset from the rotation center S.sub.0 of the main shaft S.

Abstract: A numerical control method includes the steps of (a) reading an instruction block from a numerical control program; (b) if a predetermined mirror image code is in the instruction block, determining the coordinates of a target location according to the code; (c) adding predetermined interpolation data to the target location coordinates; and (d) moving a tool to the target location to produce the same cutting direction as an original cutting. Thus, uniform machining precision can always be obtained.

Abstract: There is provided by the present invention a numerical control apparatus comprising a means for deciding a spline curve by repeating approximation of a tangential vector for an instructed point by required times according to the necessity, a means for controlling a speed by estimated a radius curvature of the decided spline curve, and a means for interpolating a speed on the decided spline curve.

Abstract: A method of reducing execution time for a position command in a position servo system is described in which a position command is transmitted from a main controller to the position servo at a first predetermined time interval and the position servo interpolates and executes a first part of the transmitted position command at a second predetermined time interval which is less than the first predetermined time interval. Execution of the position command is paused for a predetermined period of time during which a non-executed part of the position command is calculated and stored into the position servo buffer. After the predetermined pause time, the non-executed part of the position command is executed.

Abstract: In the numerical control system according to the present invention, analysis data from an analyzing means is given to a distributing means, at least one of addition for a positional instruction, addition for a speed instruction, and addition for a current instruction is computed according to analysis data from the analyzing means, and the computed addition is added at a desired timing to a specified output from a distributing means or other subsequent means.

Abstract: A computer numerically controlled (CNC) machine tool is provided in which a cutting tool is movable along a programmed path determined by a part program in a programmable control unit (PCU). A trajectory interpolator receives high level motion commands and a feedrate specification from the PCU to produce interpolated position commands. A position controller controls movement of the cutting tool in response to the interpolated position commands. The machine tool further includes a handwheel and a manual pulse generator (MPG) which can be used in MPG feed mode to control movement of the cutting tool incrementally along the programmed path in either the forward or reverse direction. In MPG feed mode, an MPG feed specification from an MPG position counter is superimposed onto the feedrate specification in the trajectory interpolator.

Abstract: A method is provided of an industrial controller, such as that used for controlling a robot or a computerized numeric controller, of returning to an absolute zero point. A main controller moves an axis toward a center sensor on the basis of a position signal of the axis received from right and left limit sensors and the center sensor, to determine an approximate position of the absolute zero point. A position controller then controls a motor by a position control command having an interpolated short time period and detects a zero-pulse generated from the motor, thereby determining the absolute zero point. Thus, the absolute zero point is always positioned in a predetermined place, and since the speed of detecting the zero-pulse can be determined by the position controller regardless of the main controller, the time for returning to the absolute zero point is reduced.

Abstract: A controller for force compensation in a variable reluctance motor includes a sensor coupled to the variable reluctance motor for obtaining instantaneous motor position data and a controller coupled to the sensor for receiving the instantaneous motor position data and desired force command. The controller includes a circuit for comparing the instantaneous motor position data and the desired force command with a plurality of stored data points. Each stored data point represents a phase current value. The comparing circuit identifies a selected stored data point having position and desired force command values numerically closest to the instantaneous motor position data and the desired force command. The controller also includes a circuit for interpolating a desired phase current value based on the phase current value of the selected stored data points; a circuit for generating a current having the desired phase current values; and a circuit for outputting the current to the variable reluctance motor.

Abstract: An apparatus for preparing NC data is used in machining an involute curve on a workpiece by relatively moving a tool and the workpiece along mutually perpendicular first and second axes encompassed within a plane while relatively rotating the tool and the workpiece about a third axis which is perpendicular to the plane. In the apparatus, there is provided involute curve definition devie defines the involute curve based upon input parameters, machining point calculation means calculates a series of machining points on the involute curve, and tangential line calculation device calculates a tangential line which connects the involute curve at each of the machining points.

Abstract: A method of speed optimization of a spindle component of a machine having multiple synchronized components moving along multiple axes over a motion profile.

Abstract: An acceleration/deceleration control apparatus for a numerical control apparatus which controls a tool in a vicinity of a stroke end by making maximum use of a stroke. The tool moves along a locus in an in-stroke region surrounded by a stroke end and carries out machining of a workpiece such as cutting and the like. The tool, which is moved by the numerical control apparatus according to a machining program, starts from a start point and moves up to an end point in accordance with preread machining blocks. The tool moves in response to usual feed speed control except that tool feed speed is decelerated in sections of the machining blocks when the tool approaches the stroke end. The tool feed speed is controlled to a minute speed just before the tool reaches the boundary of the stroke end and maintains the minute speed while moving along the stroke end. The tool is then accelerated after moving from the stroke end and returns to usual feed speed control.

Abstract: A numerical control apparatus allows a portion of a prototype or the like to be easily machined without an operator being concerned with a coordinate system, origins, and other data. A guidance function executing unit displays guidance information on a display unit. According to the displayed guidance information, the operator enters machining commands using a keyboard, etc. A pulse distributing unit sends present positions from present position registers to the guidance function executing unit. The guidance function executing unit calculates a movement command from command values commanded by the operator and the present positions, and sends the calculated movement command to the pulse distributing unit, which outputs distributed pulses to drive the machine tool.

Abstract: A motor-operated adjusting device is provided for adjusting machine axles. The device includes an addressable unit, an operating unit for executing control functions for adjusting a position of an axle to be adjusted, a bus coupling the operating unit to the addressable unit, and an adjusting unit. The adjusting unit includes a path indicator for indicating the position of the axle to be adjusted, a gear connected to the axle and a motor connected via the gear to the axle for adjusting the position of the axle, the motor and the output of the path indicator being connected via the addressable unit and the bus to the operating unit so that the operating unit can instruct the motor via the addressable unit to adjust the position of the axle in dependence of the position of the axle as indicated by the path indicator.

Abstract: An industrial-robot teaching program is prepared off-line without using a robot. Then, cameras serving as vision sensors are mounted on a wrist flange of the robot to obtain measured position data for a teaching point P1. The teaching point P1 is on a workpiece in a sensor coordinate system and is detected by the vision sensor. The position data for the teaching point in the teaching program is converted into position data in the sensor coordinate system. Next, an error of the robot wrist flange coordinate system is estimated in accordance with a difference between measured position data for the teaching point and converted position data in the teaching program. Then, the teaching point data included in the teaching program is corrected based on the estimated error of the robot wrist flange coordinate system. The vision sensor may also be attached to an end effector of the robot.

Abstract: A three-dimensional cutter compensation system provides cutter compensation for machining a workpiece with a cutter having a round edge and an axis which is tiltable in any optional direction in three-dimensional space. The three-dimensional cutter compensation system includes a cutter direction vector calculating unit for calculating a cutter direction vector from present position control axes. The control axes control the tilt of the cutter. A cutter offset memory stores a radius of the cutter and a radius of an arc of the edge of the cutter while a programmed path calculating unit calculates a programmed path commanded by a machining program. A cutter compensation vector calculating unit calculates a cutter compensation vector from the cutter direction vector, the radius of the cutter and the radius of the arc of the edge of the cutter, and the programmed path. The cutter is then shifted in response to the cutter compensation vector.

Abstract: A method for providing motion information for a motor controller is accomplished by defining a determined set of motion parameters for describing a desired motion in terms of encoder position data. The parameters are stored for use in calculating the desired motion profile of the motor during the various motion segments of the desired profile as the motor is being driven. The method saves on required memory storage for all the various motor profiles typically used in devices such as inserters since only the parameters used in calculating must be stored. A flag field is also provided to enable the microprocessor to determine which of the segments is being generated.

Abstract: A speed control method for a numerical control apparatus of a machine tool which includes a rotational axis or axes changing a tool angle relative to a workpiece. The method obtains a distributive shift amount of each rotational axis, at every predetermined period, on the basis of positional data of each rotational axis with respect to start and end points of a shift command and a commanded shift speed; obtains, at every predetermined period, a positional deviation of a tip of the machine tool in a direction of each linear shift axis with reference to the rotational axis, based on a difference between a rotational position of the rotational axis in a next cycle and a rotational position of the rotational axis in a present cycle; for each linear shift axis, adds the positional deviation to the corresponding distributive shift amount, and outputs a resultant value as a corrected distributive shift amount for each linear shift axis; and for each rotational axis, outputs the obtained distributive shift amount.

Abstract: A numerical control apparatus for controlling a machine tool to simply and accurately cyclically machine a workpiece. When the operator enters graphic data such as circular or rectangular graphic data in an interactive fashion from a keyboard or the like according to guidance information displayed on a display unit, a graphic data memory device stores the entered graphic data. A converting device calculates a machining path for cyclically machining a workpiece based on the graphic data and converts the machining path into NC commands, which are then stored in an NC command memory device. An interpolating device outputs an interpolated pulse signal to move the machine tool along the cyclic machining path based on a pulse signal from a manual pulse generator or a jog feed button on a machine control console. By freely operating the machine control console, the operator can easily and accurately effect cyclic machining on a workpiece while confirming a machined status.

Abstract: A robot teaching position method for easily modifying an original position of one of a plurality of taught points arranged on a straight line to a modified position moved a distance along the straight line from the original position. An operator selects one of the plurality of taught points, inputs a distance of movement along the straight line from the one taught point to the modified point, and selects two arbitrary taught points arranged on the straight line, using a display device attached to a manual data input device attached to a robot controller. The modified position is determined based on the inputted first taught point, the distance, and the second and third taught points. A robot performs an operation based on the modified position.

Abstract: A computerized numerical control apparatus for switching an acceleration constant for acceleration/deceleration prior to interpolation in accordance with the kind of an axis, in which an acceleration/deceleration prior to interpolation unit subjects a feed speed to an acceleration/deceleration process based on an acceleration constant designated by an acceleration constant switching unit. The feed speed subjected to the acceleration/deceleration process is transferred to an interpolation unit. The interpolation unit determines distribution pulses X.sub.p, Y.sub.p, Z.sub.p based on the speed data and movement data thereof. The distribution pulses are applied to an X-axis control unit and the like, respectively, and output to the respective axis motors M.sub.x and the like to execute the drive control thereof.

Abstract: After an emergency braking operation is released in the case of a numerically controlled machine, the path calculated by the interpolator continues to be traveled, so that braking takes place on this path in the interpolation clock cycle. To determine the braking-interpolation points (P.sub.iB), a factor k is defined for each axle, which factor fulfills the condition of at least one axle being decelerated by a maximum amount and the remaining axles being decelerated more slowly.

Abstract: A control method and a control apparatus for a robot, in which an operation line position is detected by a sensor, and real-time tracking of the operation line is performed by correcting a taught path with the use of an output signal from the sensor. The weld line position in a region on the travel direction side is sensed by the sensor supported by a robot hand to obtain the position data of sensed point kSm. After the sensed data is converted into coordinate data s(k, m) of a work coordinate system, processing is performed by using data of taught path segment PkPk+1 to which the sensed point kSm belongs. The processed data is stored in a buffer memory of ring memory type together with the coordinate data of the sensed point. The necessary data is read from the buffer memory just before the execution of tracking, to determine the tracking target point in a short period of time.

Abstract: A robot of the type having a moving member which is movably attached to a base includes control apparatus for controlling the operation of the moving member, the control apparatus having data setting facility for setting both origin search data and offset data to control the operation of the moving member. The data setting facility provides visible indication of both the origin search data and the offset 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: A computerised motion control apparatus for controlling a plurality of degrees of freedom of the positioning and orientation of a camera. The apparatus including a dolly (71) positionable by drive means along an extensible track arrangement (72), having a camera (73) mounted thereto and provided with motors to orientate the camera (73) by varying its pan (76), tilt (75), and roll (74). An operator interface device (15) is used to define position and velocity characteristics of the desired motion of each of the camera's axes of motion and a motor driver module (69) calculates a parametric cubic polynomial representation of the desired motion curve. The calculated coefficients of the motion curve parametric cubic polynomial representation are easily stored and used to regenerate the values of the curve for the purposes of display and providing motion curve values for each axis of motion of the camera. These calculations can be performed upon command and in real-time.

Abstract: A numerical control apparatus in which tool feed can be stopped at the same time as machining is completed. An interpolating device in a numerical control apparatus interpolates a pulse signal HP supplied from a manual pulse generator and outputs an interpolated pulse signal CP so that the tool is moved along a designated shape prestored in a graphic data memory device. An axis control circuit generates speed commands for respective axes in response to the interpolated pulse signal CP and sends the generated commands to a servo amplifier. The servo amplifier delivers a drive current I to energize servomotors mounted on a machine tool. A load determination device detects the drive current I from the servo amplifier and determines whether the detected current I decreases at a given ratio. When the drive current I decreases, for example, by 5%, a drive stop signal S is supplied.