Abstract: A workpiece is picked up by a robot actuator and transferred to an intermediate position relative to an objectpiece. The robot actuator then transfers the workpiece from the intermediate position to a predetermined location on the objectpiece. The movement of the robot actuator to the intermediate position is made on the basis of coordinate data of the intermediate position stored in a control system which controls the movement of the robot actuator. During transfer of the workpiece from the intermediate position toward the predetermined location, a determination is made as to whether the movement of the workpiece occurs for a predetermined time period. If the determination is negative, then it is concluded that the workpiece has not reached the predetermined location and the operation is shut down.

Abstract: A method of controlling a robot for testing of a motorcar by the simulated driving thereof, as on a chassis dynamometer. The robot is capable of detecting shifted operating quantities of actuators of the robot to correct the detected shifted quantities, whereby surely achieving operations of pedals and the like of the motorcar by the actuators. In the case where the actuators of the robot are shifted in position during a test driving of the motorcar, these positional shifts are automatically sensed and compensated for during the simulated driving of the motorcar, and the test need not be discontinued or interrupted.

Abstract: There are provided method and apparatus for controlling a robot, in which when the robot is continuously controlled in different directions such that from the movement in the horizontal direction to the movement in the vertical direction, the movements in the horizontal and vertical directions from a predetermined position are executed in parallel during the movement in the horizontal direction. In the method, target movement positions in the horizontal and vertical directions are input, a first distance which is necessary to move the robot in only the vertical direction is input, and the predetermined position is determined on the basis of the target movement positions in the horizontal and vertical directions and the first distance. The movements in the horizontal and vertical directions include the equal acceleration motion and the equal deceleration motion.

Abstract: In a method and system for generating teaching data for robots, a plurality of virtual target points are disposed in the vicinity of each of target points allowable on design, where a tool center point of a robot is to be positioned. The virtual target points and the original target point are combined into "target points taken in a broad sense". Each of the target points taken in the broad sense is given as a point which has been confirmed as a tool-attainable point on an off-line teaching apparatus. When a necessary correction is made on-line to teaching data generated by the off-line teaching apparatus, including as data the target points taken in the broad sense, an operator can select a suitable point from the target points taken in the broad sense and carry out a process of correcting the teaching data, regarding the suitable point as being a starting point.

Abstract: A system and method for using a camera and an associated display means for facilitating the loading of the distinguishing characteristics of a workpiece into the control system for a machining system to allow machining of workpieces in accordance with a stored program.

Abstract: A operation program of a robot is simply changed by using a workpiece body without using a master body. The operation program of the robot is corrected by correction data obtained from cameras. When a point of the operation program is desired to be changed to another point, a point on the workpiece body is changed to a changed point. A robot control unit reads the changed point as the coordinate values of the respective axes and changes the same to space coordinate values. Further, the space coordinate values are converted to reference space coordinate values on the master body by an inverse conversion matrix of the correction data. The reference space coordinate values are inversely converted to the coordinate values of respective reference axes. Since the operation program is commanded by the coordinate values of the respective reference axes, the point of the operation program is converted to the another point by using the coordinate values of the respective reference axes.

Abstract: To perform a simple and rapid preparation of control program, the control device for a robot manipulator for a sheet metal bending installation is provided with a first key for inputting a command signal for actuating a first actuator that is adapted to move a movable element of the metal sheet bending installation through a constant distance or amount, and a second key for inputting a command signal for actuating a second actuator that is adapted to move another movable element of the metal sheet bending installation through a changeable distance or amount.

Abstract: In accordance with levels of skillfulness of operators, guidance of a robot teaching apparatus is automatically changed for facilitated use by beginners and skilled operators. Teaching is performed through an interactive procedure with the aid of a display of message for manipulation guidance and a menu for input selection. A key manipulation path is automatically determined on the basis of various experience factors. For a skilled operator, operation up to generation of a final function display is executed in an automated manner.

Abstract: An industrial robotic system related to the present invention provides a workpiece handling robot manipulating a workpiece and a tool handling robot manipulating a tool processing the workpiece. A teaching control device for manual operation of the robotic system controls not only the execution of a conventional sole-acting manual mode of operation, but also the execution of a co-acting manual mode of operation. According to a co-acting manual mode of operation, "a relative position and a relative attitude of a tool against a workpiece" are maintained substantially constant.When the manipulation of the workpiece is executed in order to get a new setting state by means of a co-acting manual mode of operation from an initial setting state, the tip point of the tool is remained at an aimed point on the workpiece and an attitude of the tool against the workpiece is maintained without interference between the tool and the workpiece.

Abstract: In a method for changing the relative orientation between a workpiece held or clamped by a robot and an arbitrary working point, without changing a determined position, the working point is defined in a reference coordinate system of the robot. In a teaching operation, the workpiece is held or clamped by the robot with respect to the working point. The workpiece is then rotated about the working point so that the workpiece can assume a desired relative orientation with respect to the working point.

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 method of controlling an articulated robot having in excess of six axes and up to twelve axes, comprises the steps of dividing the axes into two groups each composed of six axes or less, those axes which are positioned on one side of a dividing point (P) closely to a reference point serving as redundancy axes (11), those axes which are positioned on the other side of the dividing point closely to a robot wrist (Q) serving as basic axes (12), and controlling the dividing point (P), as a first control point, by way of interpolation and controlling the robot (Q), as a second control point, by way of interpolation with the controlled first control point regarded as a new reference point, so that all the axes of the articulated robot can be controlled by way of interpolation.

Abstract: Disclosed is a method of controlling a robot, for restarting the robot by resupplying an electric power in the event of a power failure. When a power failure detection circuit detects that a voltage has dropped or has been cut off, the circuit notifies an operating method (OS) of this (S1) and the OS writes a power failure flag to a non-volatile memory and stops a task being performed (S2). The data of the task being performed is saved in the non-volatile memory. After the electric power has been resupplied (S10), the OS executes a power failure processing for itself, with reference to the power failure flag (S11), initializes hardware (S12), executes a power failure processing routine for each task (S13), and restarts the operation of the robot from the position at which the robot was stopped when the power failure occurred (S14).

Abstract: A method of forming operation programs used in operating respective automatic machines having the same specifications and individual variations. The method employs normal position data specifying predetermined normal positions at which the respective automatic machines are to operate and operation pattern data specifying a predetermined pattern of operation of the automatic machines. Actual normal positions at which the respective automatic machines operate actually are measured to form individual variation data specifying deviations of the measured actual normal positions from the respective predetermined normal positions. The normal position data are corrected based on the individual variation data. The corrected normal position data are combined with the operation pattern data to form operation programs required for controlling the respective automatic machines.

Abstract: A manipulator, having six degrees of freedom of movement and having a force sensor mounted thereto, is controlled by computing forces and moments applied to the regions of the manipulator from the output of the force sensor. When a force and/or a moment in excess of an allowable load and an allowable load moment of the regions is applied to any region, the joint subjected to the largest load is stopped to save energy consumption of the manipulator. Alternatively by driving the joint in the direction of lessening the load and the load moment, forces and/or moments are prevented from being applied to the regions of the manipulator. Therefore, optimum design is made possible with regard to the strength of the regions of the manipulator and reductions in size and weight of the manipulator can be achieved.

Abstract: When a welding teaching program employing a plurality of robots is completed, if a robot does not operate properly it may be preferably to make the robot retreat and operate in accordance with a different teaching program, urgently and at an optional timing. In the invention, when the operation of a program being executed is suspended, the program addresses are memorized and a different prestored teaching program is executed. Upon the termination of the different teaching program, the execution of the suspended program is resumed, referring to the memorized addresses.

Abstract: A portable teaching apparatus comprises interlock cancellation switches and at least one operating switch for producing a signal which remains effective only when the interlock cancellation switch is depressed. A box-like body with the operating switch arranged on the front surface thereof include two parallel strips of apexes on the back side thereof. Slopes which steadily approach the front side and continued from the apexes are formed between the two strips of apexes. The operating buttons of the interlock cancellation switches are mounted on the slopes respectively.

Abstract: A direct teaching type robot in which in the playback of the robot an electric power corresponding to a playback command is supplied to an electric motor from a servo driver so that the electric motor is driven to move a moving arm of the robot and in the teaching operation the moving arm is directly moved by an instructor to teach its movement to the robot includes breaking means provided in the servo driver for breaking a current generated by the electric motor when the electric motor is rotated in response to the teaching operation of the moving arm so as not to flow into the servo driver, whereby operation force by the instructor for moving the moving arm of the robot in the teaching can be reduced.

Abstract: A robot control system including a robot, a robot controller for controlling operation of the robot, and a teaching box for teaching the robot through the robot controller. The teaching box includes an input unit separate from the robot controller for entering a command signal to teach the robot its operation to be effected and a control unit for controlling the input unit and processing and for applying the command signal to the robot controller.

Abstract: An automatic nominal data setting method in a visual sensor system is capable of accurately and rapidly setting nominal data with ease, and a correction data deriving method is executable on the basis of the automatically set nominal data. If operation of the visual sensor system in a nominal mode is determined (S200) upon start of execution of an orientation portion of a user program by the visual sensor system mounted on an industrial robot, a message for interrogating whether or not nominal data setting should be executed is displayed (S201). When an operator inputs a nominal data setting command (S202), the workpiece position/posture data in the sensor coordinate system at that time, determined based on gray-scale image data, is converted into workpiece position/posture data in the robot coordinate system to be stored as nominal data (S203).

Abstract: A robot control apparatus programmably controls a taught/playback-type robot. The control apparatus has processing control means (CPU) which converts a group of position data contained in a plurality of robot command data inputted from a teaching panel into set-type command data together with other robot command data, stores the converted command data in a data memory (RAM), and creates a robot motion program by editing the command data.

Abstract: An articulated robot such as an arc welding robot includes a plurality of articulations and an end effector having a tool center point. To teach the robot, a coordinate transformation matrix for transforming coordinates between the articulations is determined from condition data of the articulations. A present position of the tool center point is calculated based on the coordinate transformation matrix and a moving vector is determined from the present position of the tool center point to a next position thereof. Thereafter, a new coordinate transformation matrix for transforming coordinates between the articulations is determined so that the posture of the end effector at the next position of the tool center point, which is calculated based on the first-mentioned coordinate transformation matrix and the moving vector, will coincide with the posture of the end effector at the present position of the tool center point.

Abstract: A direct teaching type robot has a moving arm driven by an electric motor. The moving arm is directly moved to previously store data corresponding to the movement of the moving arm ina robot controller and when operated as the robot, the moving arm is operated on the basis of the stored data. Power lines for the electric motor are cut off in a teaching mode in which movement position of the moving are are taught in the robot.

Abstract: A teaching apparatus is used with at least one manipulator arm capable of carrying out a plurality of distinct motions for carrying and positioning a work tool for performing a work function. The apparatus comprises a power unit including actuators for powering the respective motions of the manipulator arm, a control unit coupled through a first data line to the actuators for controlling the mechanical actuators, and a teach pendant connected through a second data line to the control unit and through a third data line to the mechanical actuators. The teach pendant is used to produce a motion command on the second and third data lines, the motion command having digit information specifying a selected one of the distinct motions of the manipulator arm and a teach command on the second data line. The power unit responds to the motion command fed thereto through the third data line from the teach pendant by selecting one of the actuators to power the selected motion of the manipulator arm.

Abstract: An industrial robot apparatus has a plurality of robots mounted for movement along a pathway. When a malfunction sensor detects a malfunction of one of the robots, a withdrawal controller withdraws the malfunctioning robot from the pathway, and the operation usually performed by the malfunctioning robot is allotted to one or more of the remaining normal robots by an operation allotter. A normal robot to which an operation is allotted is controlled by a hand replacement controller to replace its detachable hand with a hand corresponding to that of the malfunctioning robot.

Abstract: A device for indicating the height of the fork of a fork lift truck relative to a home position is set forth. The device includes a controller which compares programmed store and retrieve heights for various shelves in a warehouse with the current height of the fork. A display visible to the operator includes a first display device which indicates the fork is adjacent a particular shelf and is within a predetermined range encompassing the store and retrieve heights of that shelf. A second display device indicates when the fork is at or within a predetermined range of the store or retrieve height for the shelf.

Abstract: An articulated industrial robot has an articulated horizontal arm assembly which includes horizontal arms (20), a vertically movable shaft (20) mounted on the extremity of the horizontal arm assembly, and a motor for driving the vertically movable shaft. When directly teaching motions to the vertically movable shaft through a direct teaching operation by an operator, the current control unit of a motor control unit for driving the motor for driving the vertically movable shaft is disconnected from a signal line connected to a robot control unit, and a torque calculating circuit is provided for deciding a motor torque corresponding to the sum of the weight of the vertically movable shaft and the respective variable weights of an end effector attached to the lower end of the vertically movable shaft.

Abstract: A method and apparatus by which correct tool dimensions for a three dimensional tool mounted on a manipulator can be determined. The manipulator operator inputs initial values for the tool dimensions into the manipulator control in the teach mode. Having established a target point within the manipulator's working volume, the operator, by means of teach pendant, causes the tool center point to approach and touch the target point from four different directions, at least one of which is noncoplanar with respect to the other three. For each approach point coordinates X, Y, Z, D, E, R are entered into the control. The control thereafter executes an analytical procedure including a major iteration loop which calculates the coordinates of the target point. In a first minor iteration loop within the major iteration loop updated tool dimensions are derived. In a second minor iteration loop within the major iteration loop new coordinates for the tool center point approach points are calculated.

Abstract: An apparatus for controlling an industrial robot in a shared manner using a plurality of operation controllers so that the robot automatically works under the optimum load condition. When power is turned on, the operation controllers (5) to (7) connected via a common bus (1) operate their own respective initial loaders to read control data (TCB) from an external memory (3) into their own respective memories (RAM) and any one of the operation controllers (5) to (7) loads the control data (TCB) and synchronization control data in a shared memory (4). When synchronized with each other, the operation controllers (5) to (7) load the tasks from the external memory (3) in their own memories (RAM), depending upon their capabilities determined by the control data (TCB) and upon their shares of the task. Therefore, the industrial robot is controlled in a shared manner depending upon the task that is loaded.

Abstract: An instruction system of a remote-control robot having a work manipulator. The system comprises an instruction manipulator for providing work instructions to the work manipulator; a solid geometrical model forming device for forming solid geometrical models of the work manipulator and work circumstances; a simulating device for operating the positions and attitude of the geometrical models according the information of motions of the instruction manipulator and information from various sensors of the work manipulator to simulate geometrical models, as well as driving the work manipulator according to the information from the instruction manipulator, etc.; and a graphic display for displaying motions of the geometrical models. The solid geometrical model forming device forms geometrical models of the work manipulator and work circumstances, the simulating device simulating actual working positions of the geometrical models, and the graphic display displaying the simulated geometrical models.

Abstract: Method and apparatus in a robot installation for programmed control of a working tool to perform processing operations on an object by a movable servo-actuated robot arm system with more than six degrees of freedom and including a data memory for storing preprogrammed tool path data. A coordinate transformation module derives and stores in the memory the preprogrammed tool path data defined in an outer coordinate system without physical connection with the robot arm system. The robot arm system is subdivided into system parts movable relative to each other and each system part having at most six degrees of freedom, thereby enabling suitable coordinate transformation to an inner reference coordinate system associated with the robot arm. Sensor devices obtain positional data for each system part, apart from at least one system part connected with the inner reference coordinate system.

Abstract: A correlation between numbers of input/output ports in a robot controller and F keys (F0-F15) provided on the off-line programming apparatus is preset and stored in a storage area (1c-2). In this state, off-line control is executed based on robot data stored in a storage area (1c-1). If input of a prescribed signal is being awaited, an F key corresponding to the port through which this signal is inputted is pressed to generate this signal artificially. As a result, since the conditions for executing the next command are satisfied, the next command is executed. If output of a prescribed signal is being awaited, an F key corresponding to the port through which this signal is outputted is pressed to generate this signal artificially. As a result, since the conditions for executing the next command are satisfied, the next command is executed.

Abstract: A method for teaching a machining line to be machined is disclosed. A borderline is formed along the machining line on a workpiece. Then, a borderline sensor is moved across the borderline at each sensing position. The positions of the sensor are stored as a teaching position at each time when the borderline is detected by the sensor. The sensing interval between each teaching position is automatically adjusted according to the change in the curvature of the borderline. At the place where the curvature of the borderline becomes large, the sensing interval is shortened in order to maintain teaching accuracy.

Abstract: An industrial playback robot having a teaching mode and a playback mode comprises a robot structure, a speech discriminating circuit for detecting an instruction from an input speech in the teaching mode, and a control board for controlling the movement and operation of the robot structure. The control board stores information about the position and operation of the robot structure in the teaching mode and controls the movement and operation of the robot structure depending on the stored information in the playback mode.

Abstract: A control system for a programmable industrial robot has a joystick for manual control of the robot during programming for teaching the robot to follow a working path defined by a number of set points. The control system further comprises a memory for storage of the coordinates of these set points and of other instructions and control members for control of the function of the control system during the programming and for storing or entering instructions in the memory. The control members comprise a group of control members each having a plurality of different functions, the particular function in question being determined by the prevailing condition of the control system. An indicating member is arranged, for each of the control members in the group, to indicate the current function of said control members.

Abstract: A stream calibration arrangement for visually determining the position and orientation of a sprayed material stream. Use of a stream calibration fixture to determine adjustments to an adjustable spray gun mount to realign a spray stream without altering the taught path of a robot carrying the spray gun. Alternatively, the stream is realigned by altering the taught robot path and requiring no gun mount adjustment. Stream realignment is also carried out automatically with and without gun mount adjustments. Machine vision is used for automatic stream realignment.

Abstract: A system for controlling a mechanical manipulator in a laboratory environment employs a system of taught motions, attribute operators and procedure rules to simplify the programming task for scientists or engineers skilled in their own fields and not robotics.

Abstract: A method of positioning a tool along a circular arc. The tool is carried by an automaton which is moved through a teaching phase during which it is taught coordinates and wrist orientation angles for three reference points. The method then proceeds into a work phase in which calculations are performed to determine coordinates and wrist angles for a series of work points spaced along the circular arc defined by the three reference points. Thereafter the automaton is direction to position the tool at the calculated coordinates and orientations.

Abstract: Synchronous operation of a multi-joint robot and a rotating table is facilitated by the provision of a multi-joint robot controller. The robot controller detects the position of an arm of the multi-joint robot relative to a coordinate system assigned to the multijoint robot and the position of a specific point on the rotating table relative to the same coordinate system. The spatial relationship of the table relative to the multi-joint robot is calculated based on the coordinates of a plurality of positions of the specific point on the rotating table.

Abstract: An industrial robot has a position controller for each one of the axes of the robot and a computer for control of the robot. The computer continuously determines, with the aid of a mathematical model set up in advance, in dependence on the robot configuration and load in question, the mass moment of inertia of the axes, the coupled mass moment of inertia, and the moment caused by gravity. From the relationships between acceleration/deceleration and the drive motor torque for the different axes, the maximum available acceleration/deceleration for the axis is determined while assuming that maximum motor torque prevails for each axis. For each axis this value is compared with the maximum acceleration/deceleration value that may be allowed from the point of view of stability. On the basis of the lower of these values, optimum gain is determined and set in the position controller and/or a path planning parameter.

Abstract: An apparatus for setting an industrial robot at the standard position comprises a block (19) to be measured, which is attached to a top end portion (18) of a wrist of the industrial robot, and a supporting member (23) for the measurement, which is attached to a fixing base (11) of the industrial robot. The block has three planes (20, 21, 22), orthogonal to one another, to be measured, and the block is positioned to the top end portion of the wrist so that the three planes to be measured are set at predetermined positions relative to the top end portion of the wrist. The supporting member has three frames (24, 25, 26) orthogonal to one another, and the supporting member is positioned relative to the fixing base so that the three frames take predetermined positions relative to three-axis orthogonal coordinates predetermined on the basis of the fixing base. By a plurality of dial gauges (27 through 32; 37 through 42), the positions of the planes of the block are measured.

Abstract: A robot control apparatus which controls a robot by a program language and which has keys and a display which displays at least one block of data, cyclically selects the word to be changed, in the one block of data is displayed, to be compiled with the desired block and stores the data in that compiled form, so that syntax errors are avoided and it is possible to compile a desired block easily and in a short time.

Abstract: An industrial robot has a sensor mounted on a hand of the robot which senses the position of an object relative to the sensor. The sensor controls, during automatic operation of the robot, its movement in relation to the object, a robot control system determining the path of the robot in a robot coordinate system on the basis of measurement signals from the sensor. For calibration of the sensor, the sensor is automatically moved to a number of points connected to a calibration object with a known position in the robot coordinate system. At each point a number of measurements of the position of the object in relation to the sensor are made. On the basis of the measurements, those transformations are determined which transform the measurement signals of the sensor to the position of the measuring point in the robot coordinate system.

Abstract: A joystick controller includes three gravity sensing switches, the outputs of which can be used in the assignment of joystick transducer outputs in six different ways depending on controller orientation. This permits intuitive control of a robot arm in that translational motions can always be effected by moving the joystick in the direction the arm is to move. Thus, a controller which is economical, reliable and intuitive multiplies the functions available from what is basically a two or three dimensional controller.

Abstract: The disclosure is directed to a control arrangement for an industrial robot, which is capable of teaching a continuous path operation, and playing back the operation thereby. According to the present invention, it is so arranged that, in a process for automatically memorizing the operating path information of the industrial robot by direct teaching, data for the operating distance on the taught path is also computed so as to be stored together with positional data, and during play back of the function, interpolation is effected based on the operating distance data, whereby the robot is caused to function at a predetermined speed, according to the path at the teaching, and thus, it becomes possible to effect the playing back operation without being influenced by the operating speed during the teaching.

Abstract: In a robot, an object to be controlled, e.g., a working tool mounted on a robot wrist is purposively moved in accordance with data taught in advance. In case the object is encountered with a shaping or mounting error, a correction is accordingly required. This requirement makes it necessary to generate a desired error vector so that the robot may be moved while correcting the taught data in accordance with that vector. The object can be moved in a manual mode with its location being fixed while changing its position. In case, however, the object is accompanied by the shaping error or the like, not only the position but the location is changed following the position changing operation. The error vector can be arithmetically determined from data concerning such locational change.

Abstract: An apparatus for automatically extracting objects individually from containers comprises a stand, beneath which a container having the objects that are to be extracted can be erected; an extractor arm movably disposed on the stand in the area above the container; a device for axially extending and retracting the extractor arm; and a device for guiding the grasping element of the extractor arm to various areas in the container interior. In order to attain reliable emptying of the container, especially in the rim areas and corners, a holding device for the extractor arm is provided, which is connected to the stand via a cardan joint suspension system. A drive mechanism is provided for the longitudinal displacement of the extractor arm relative to the holding device, as are further drive mechanisms for pivoting the holding device in two vertical planes at right angles to one another.

Abstract: A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction.Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate.Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microprocessors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque commands and the current feedback signals.

Abstract: An apparatus for starting a playback action of a teaching-playback robot, which is simple in construction and capable of handling works of various kinds or types, essentially including in combination: a start signal generating mechanism adapted to produce an output start signal upon detecting arrival of a work being transferred by a conveyer at a predetermined position upstream of a teaching-playback robot; a discriminating mechanism for detecting the type of the workpiece which has arrived; a delay amount selector mechanism for selecting a delay amount according to the type of the detected workpiece; and a start delay mechanism for delaying the start of the playback action of the teaching-playback robot by the selected delay amount from the point in time of production of the start signal.

Abstract: A programmable automatic assembly system is provided which may be employed to assemble small parts. Each assembly station includes cooperating manipulator arms which are programmable to assemble parts on a centrally located work table. Improved facilities are provided for teaching the manipulator arms at each station, these facilities including a computer which assists the teaching operator in setting up the programs required for assembly of small parts to close tolerances. Each manipulator arm includes closed loop teach facilities for maintaining the arm at a previously located position during the teaching mode of operation. The computer is employed as a teach assist facility in performing a number of tasks during the teaching operation which are extremely difficult for the operator to perform manually. All of the assembly stations may be controlled during playback from a common disc storage facility so that the control circuitry and memory storage facilities at each manipulator are minimized.