Abstract: For operating an industrial robot, first, second and third flags are selectively generated as an indication of first, second and third teaching modes, respectively. A position signal representative of the path to be traced by the robot arm is sampled at a higher rate in response to the first flag to produce a first train of samples or at a lower sampling rate in response to the second and third flags to produce a second train of samples. A sample between successive samples of the second train is interpolated when the second flag is generated and combined with the samples of the second train. When the third flag is generated, a sample between successive samples of the second train is approximated. The robot arm is controlled in accordance with the first train of samples in the presence of the first flag or in accordance with the combined samples or approximated samples in the presence of the second and third flags.

Abstract: An off-line programming method and apparatus for a robot comprising creating a work program for a work sequence in terms of the workpiece coordinates, breaking up the sequence into plural jobs comprising closely associated segments, converting the segments into the coordinates of the robot, teaching the robot two points per job, determining the differences (error vectors) between the converted segments and the two taught points, and apportioning the error vectors to the remaining points.

Abstract: Apparatus and method are disclosed for teaching a cycle of operation to a computer operated robot arm. A keyboard is provided comprising first keystroke means which are operative in two different teaching modes. In a first teaching mode, the keystroke means cause storage of individual instructions defining an operation to be performed by the robot arm at a point in space. In the second teaching mode the first keystroke means are operative for creating a macro comprising a sequence of such instructions for later use. There is a pendant which controls the movement of the end of the robot arm and has second keystroke means for causing a previously stored macro to be assembled into an operating control program for the robot arm. The second keystroke means also may be used for causing assembly of individual instructions into the operating control program.

Abstract: A method of positioning a planar multi-joint industrial robot in which errors due to manufacturing tolerances and errors in the manufacture of the robot are prevented from affecting the accuracy of the movements of the robot in actual use. The coordinate system of a measuring plate is first made to agree with one axis of the coordinate system of the robot by teaching, and the coordinates of four points on the measuring plate are taught to the robot. The actual arm lengths of two arms of the robot are obtained, and an angle of one of the arms relative to an extension of the other arm on the basis of the four coordinates is determined. Dimensions of the robot to the actual arm lengths and this angle are then corrected, and two reference points of the object are taught to the robot to obtain an inclination between the coordinate systems of the object and the robot. The coordinate system of the robot is corrected with the inclination to thereby obtain the position of the object.

Abstract: A method to avoid excessive rotational speeds, of the axes of a robot wrist, that result in the vicinity of a singularity in the path defined by consecutive points along which a tool held by a three-axis wrist mechanism of the robot moves. The speeds of the first and third axes are reduced within the allowable range of rotational speed for these axes, generally defined by the robot manufacturer, while maintaining constant the rotation about the intermediate or second joint. The rotational speed about each of these axes is determined as the tool moves between successive points on the path. Then, if necessary, the rotation of the second joint is decreased while maintaining constant the speeds about the first and third axes. Finally, the tool is maintained on the path by rotating the position of the tool without altering the reduced speeds of rotation about the axes.

Abstract: A method for teaching a holding position and a holding angle of a work by a hand of a robot to the robot in a robot system having a visual sensor attached to a movable arm of the robot. First, the work is held by the hand which is in a prescribed reference angle state and put down on a working table with keeping the holding state. Next, the centroid position and the angle of the principal axis of the work are recognized by the visual sensor. Finally, the holding position and the holding angle are acquired by using the centroid position and the angle of the principal axis, a posture data of the robot and the hand, and a mutual relation data of a robot coordinate, a visual coordinate and a hand coordinate of the robot system.

Abstract: A tracking robot apparatus has a robot for performing a predetermined operation, a movable device for moving an object of interest, a signal input device for designating operations of the robot and the movable device, an operation device for calculating an operation instruction value of the movable device in response to an input signal from the signal input device, a controller for driving the movable device in accordance with the calculated operation instruction value, an operation device for calculating a position/posture instruction value to keep relative position and posture of the robot and the movable device unchanged upon operation of the movable device, and a controller for driving a robot in accordance with the calculated position/posture instruction value. The movable device is operated in response to the signal from the signal input device, and at the same time the robot is operated such that the relative position and posture of the robot and the movable device are kept unchanged.

Abstract: A control system for a movable robot, having a movable member which is linearly movable on and articulated about a base and having an articulated arm with a work element, executes a prestored continuous path program for moving the work element through a continuous path by simultaneous coordinated linear and articulation displacements of the movable member and arm in all degrees of freedom. These simultaneous coordinated displacements are produced by interpolating in advance the position of the movable member at a teaching point and by loading the interpolated position of the movable member into an interpolation calculation of the arm position.

Abstract: A method and a device for determining the reference positions of an industrial robot, in which datum surfaces (1a, 1b) are formed in the fixed base (1) of an industrial robot having a plurality of degrees of freedom of motion. The reference positions with respect to directions corresponding to the degrees of freedom of motion of the wrist base (5) and the wrist front section (7) are determined relatively to the fixed base (1) by means of a jig body (11) located fixedly on the datum surfaces, and measuring instruments (14 to 19) attached to the fixed base (1) at predetermined reference positions thereon, and the determined reference positions are given and taught to the NC unit of the industrial robot.

Abstract: Provided is a system for setting a workpiece Cartesian coordinate system in a robot. In teaching the nose position (TCP) of a working member (tool) mounted on the hand of an articulated robot, the user moves the tool mounted on the hand to teach a reference point, any point on a predetermined axis and a third point defining a plane together with the other two points, whereupon a single coordinate system is specified by the position data indicative of these three points P1, P2, P3. A plurality of tool coordinate systems having a fixed relationship to the reference coordinate system of the robot can be set.

Abstract: A safety method in a robot system including at least a robot (1), peripheral equipment (2-5) serviced by the robot, a robot control unit (6) which causes the robot to execute predetermined services for the peripheral equipment, and a teach control panel (9). A door (11) is provided at the entrance to a robot operating zone, and the door is provided with a safety switch (12) for terminating automatic operation of the robot when the robot is in an automatic operating state. When the safety switch is actuated by opening the door, robot motion in the automatic operating state is decelerated and stopped. During the time that the safety switch is in the actuated state, the robot is placed in a playback operation state to enable control that is performed through the teach control panel.

Abstract: An industrial robot arc control method subjects the position of a working member to circular-arc control by interpolation while controlling the target angle of the working member with respect to a surface to be worked, which working member is mounted on the wrist of an industrial robot. The industrial robot circular arc control method includes obtaining corresponding points (P1, P2 . . . ; Q1, Q2 . . . ;) of the tip and base of the working member (TC) at plural taught points for circular-arc control of the tip of the working member, which is mounted on a wrist (HD) of the robot, finding interpolated points of the tip and base of the working member by interpolation from the corresponding taught points, and obtaining command quantities for the motion axes of the robot from the interpolated points.

Abstract: A system that utilizes a robot for a loading operation of articles of works in a machine; a depalletizing operation for taking out the articles or the works one by one which are stacked up in a magazine at an assembly work station and a palletizing operation for stacking up the articles or the works one by one which are machined or assembled.

Abstract: In a joint assembly for moving a free end relative to a reference end like a human arm, first and second axle members have first and second axes associated with the reference and the free ends, respectively, and are coupled to each other by an axis end plane oblique to the first and the second axes. A coupling member, such as a universal joint, is coupled to the first and the second axle members and to the reference end. The first and the second axle members are rotated about the first and the second axes, respectively, to move the free end along a spherical surface, with the free end prohibited from being twisted. The oblique axis end plane may be provided by a pair of plate members or by a pair of shells. Alternatively, the axis end plane may be given by a stator and a rotor of a single motor. A motion of the free end is controlled by angles of rotation of the first and the second axle members.

Abstract: An off-line teaching method for an industrial robot wherein a master robot, separate from a line robot, placed in an actual operation line, and a model work similar to the line work processed in the operation line are prepared. Four predetermined points which are not in the same plane are obtained on each of the works, and are taught to the line and master robots in the same order to obtain a reciprocal transformation matrix. The transformation matrix is used to automatically transform an operation program taught to the master robot into an operation program for the line robot.

Abstract: A method for controlling an articulated robot manipulator with an offset wrist made with only rotary joints. The method relates to transforming a given position and orientation of the robot tool or end effector in Cartesian space to the equivalent joint angles of the robot. Commands generated from the joint angles are sent to actuators connected to the rotary joints, where the desired motion of the robot tool is generated. This method of transforming a point in Cartesian space to joint angles is accomplished by providing a cross-product and dot-product recursive methods that employ the robot geometry to determine the location of the the end effector, such that the computational complexity of the techniques allows real-time computations for current state of the art microprocessors.

Abstract: There is provided a process and system for the memory-saving programming of he motional actions of a robot wherein a reference course is recorded first in the form of samples, which are then stored. For reducing the storage space, the recorded and stored samples are transformed into a Fourier matrix .sub.0 C by means of a Fourier analysis. Said matrix is then filed in a memory. From this Fourier matrix .sub.0 C, it is possible to derive Fourier matrices for courses with the same configuration, but with any desired position and orientation solely by a linear transformation of the coordinates in the form of a Fourier matrix .sub.1 C. With the help of the dynamical model of the robot used, the derived Fourier matrix .sub.1 C can be modified with adjustment to the desired speed, so as to compensate for the dynamical errors in the motional actions of the robot.

Abstract: A real time steering capability is provided to permit robot motion to be modified continuously in three dimensions as the robot is moving along a taught path. An arc welding robot or other taught path robot has a sensor located on the robot arm to sense the position of a desired path. The tracking control provides real time steering commands to the standard robot taught path and are calculated based on maintaining a constant, preprogrammed velocity along the desired path and coordination with the taught path. Offsets to the robot taught path are computed in a manner that allows the robot to smoothly follow the actual path as measured by the look ahead path sensor. The offsets are determined as separate x, y, z and twist integrations for the end effector and represent the total deviations from the robot taught path.

Abstract: A position error correcting method and apparatus suitable for operating an industrial robot with high accuracy, in which, after the industrial robot disposed on a working site is moved according to position command values, the moved position of a measurement point on the industrial robot is measured three-dimensionally, and a position error of the industrial robot between the robot coordinate system relating to the operation of the industrial robot and the absolute coordinate system of the industrial robot on its working site is computed by comparing the measured position values of the measurement point with the position command values. The work program prepared for the operation of the industrial robot is modified on the basis of the computed position error so that the industrial robot can be operated in accordance with the work program from which the source of the position error has been eliminated.

Abstract: This invention relates to a machining apparatus for repeating the position and the attitude of a desired point on a work, memorizing as a plurality of data in a memory device, and automatically operating a jig from the stored point to the stored point in accordance with calculated result of a calculator for calculating to interpolate between these points while a machining head remains stationary. The device comprises a detector for teaching the position and the attitude of the machining head with respect to the work independently from the machining head in case of forming teaching data. A calculator is provided for calculating the spatial position and attitude entirely in the same manner as the detector with respect to the work by the stored data under playback condition so that the machining head takes with respect to the work.

Abstract: A programmable automatic manipulator system, implementable in an arc welding application, involves a manipulator member which may be pre-programmed to move about a plurality of axes of movement. A path sensing probe is connected to a tool attached to the end of the manipulator member in order to detect deviations along the path to be followed. The detected deviations are used to program a desired path of movement and also to adjust the path of movement of the tool in a playback mode in accordance with actual conditions sensed by the probe. Probe signals are periodically interrogated in both the teaching and playback mode in order to detect the extent of deviation of the path from a straight line. The smaller deviations are automatically implemented between interrogation cycles while the larger deviations are stored in the teach mode for retention within the permanent register that contains the program recording the path of movement.

Abstract: Apparatus for resetting the path of a member comprises a member and a position detector, fixed to a carrier via a system comprising at least one carriage. The position detector supplies at least one signal representing the distance between the member and the line to be followed in a given direction. The apparatus includes for each direction, a carriage for translation of the member in said direction, a position coder associated with the carriage, a servocontrol arrangement to position the member in said direction and switches for locking the position of the member relative to the carrier for making the member dependent either on a reference position with respect to the carrier, or on a reference position with respect to the line to be followed by cancelling out the distance variation signals from the position detector. The process steps carried out by the apparatus are also disclosed.

Abstract: An operation teaching method and apparatus for an industrial robot adapted to be successively moved to and set at different positions along an objective structure to conduct a predetermined operation on working objects of the same configuration on the objective structure to which objects the different positions correspond, respectively. The data taught at an initial position is corrected through a coordinate transformation between a coordinate system fixed on a working object and a coordinate system assumed on the robot, and the corrected data are reproduced and used as the operation data for the second and the following working positions.

Abstract: A control system and method for an industrial robot, wherein one of a plurality of command transforming programs is selected automatically depending on the number of transformed reference points (Pcn) which have been instructed, and the selected program transforms model commands into executable commands by which the robot is operated. Each transformed reference point corresponds to a model reference point (Ptn) and the model reference points are in a unique positional relation with the model commands.

Abstract: A method of controlling an industrial robot wherein velocities of the actuators for the robot are based on the velocity of a robot hand moving along a predetermined path of travel. When the velocity of any single actuator exceeds its ability, the velocities of the actuators are revised so as to bring the velocities of all the actuators within their abilities, thereby revising the velocity of the robot hand along its path of travel. Calculation of the velocity of each actuator may be carried out based on the position and posture of the robot hand and a Jacobian matrix.

Abstract: Machine operations are performed by a robot at a plurality of locations on a workpiece based on off-line data. The off-line data is corrected based on two levels of workpiece/robot alignment. First the robot determines the orientation of a fixture to which the workpiece is mounted by "touching-off" on known reference points (touchblocks) on the fixture. Coordinate data for the location of local features on the workpiece is corrected based on the first level of alignment and the positions of the local features are then sensed to provide a coordinate transformation for subsequent application to nominal machine operation location coordinates. The local features may be preassembly rivets and provide for individualized robot response on a workpiece-by-workpiece basis.

Abstract: A welding robot controlling method for controlling a welding robot having a welding torch which has a tip thereof directed toward a teaching direction and sensor which intermittently generates a locus correction signal for the tip of the welding torch, comprising, (1) giving the locus correction signal as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects a welding line direction, (2) correcting a locus by controlling the three basic axes of the robot in a direction of a resultant vector which is composed of a predetermined length vector of which direction is parallel to a line connecting two teaching points and which passes through a tip of the welding torch and the locus correction vector, when the locus correction signal is generated, (3) controlling the three basic axes of the robot such that the tip of welding torch moves on a line which is parallel to the line connecting the two teaching points, until a subsequent locus correction signal is again given after

Abstract: A system for automatically calibrating a robot in all degrees of freedom in one point to compensate for inaccuracies in the different coordinate directions. The system includes moving a measuring body, held by the robot gripper, in response to a command representative of a previously determined nominal position within a measuring fixture known to the robot controller, determining by means of sensing means the actual position reached by said measuring body, calculating the errors in the different coordinate directions based on the measured values and the nominal position values and compensating for the errors in respective coordinate directions.

Abstract: For controlling a work process carried out by means of a robot (RB), instructions are stored both relating to the positioning of the robot and relating to the very process to be accomplished. The process instructions are stored in the form of process stage instructions (SPS, SPM and SPE) comprising(a) process start stage, during which the process is initiated (the arc is struck, for instance, when arc welding is involved) and the relative movement between object and robot can be started;(b) process main stage, during which the actual process is carried out; and, at least when the process is not directly followed by a further process;(c) process terminal stage, during which the process is terminated (the arc is broken, for instance, when arc welding is involved) and the relative movement between object and robot can be stopped.

Abstract: An assembly robot comprises a breastplate adapted to be attached to the chest of a human operator, an upper arm member connected to the breastplate and adapted to be attached to the upper arm of a human operator, a lower arm member attached to the upper arm member and adapted to be attached to the lower arm of a human operator, a hand member having finger and thumb units into which the hand, finger and thumb of the human operator can be inserted, and a support structure taking the form of a movable chair to which the breastplate is attached and on which the human operator may sit. The robot members, their length, the joints between members, and the axes of these joints correspond to those of a human arm, hand and fingers whereby the robot can make the same movements as the human operator. Each joint is associated with a sensor-motor device.

Abstract: A robot "touches off" on the orthagonal touchblock faces of a workpiece holding fixture and the coordinate of the touches along axes nominally normal to the faces provide significant data from which a coordinate transformation indicative of the orientation and location of the touchblocks in the robot frame of reference can be determined. The coordinate transformation is subsequently applied to workpiece coordinates indicative of the location and orientation of the workpiece and/or points thereon.

Abstract: A control system and method for controlling a hand of an industrial robot are disclosed wherein the hand is driven at a predetermined speed along a polygonal path defined by a plurality of straight lines which interconnect a plurality of point coordinates taught to the robot. The straight lines are continuously interconnected by a parabola at predetermined locations in the vicinity of the centers of the straight lines, wherein the hand is continuously moved along the parabola from a straight line to the next straight line, and wherein the parabola is generated by dividing a span between two predetermined positions through arithmetic linear interpolation technique in a manner in which points located between the predetermined positions are defined on a straight line interconnecting the two predetermined positions.

Abstract: A method of interlockingly controlling a robot and a positioner which includes operating manually or automatically a teaching roller along a weld line of a workpiece fixed to a rotatable positioner, teaching the position of the weld line, storing the positional data thereby obtained, and performing a welding operation automatically on the basis of the stored data during playback, in which, during teaching, the positioner is rotated at any desired speed, the robot is moved manually or automatically while maintaining a welding torch in a proper welding position with respect to the weld line and positional data on each shaft of the robot and that on a rotating shaft of the positioner are stored each time the teaching roller advances by a predetermined distance, while during playback the welding speed is kept constant by controlling the moving speed of the robot and the rotating speed of the positioner simultaneously while controlling a relative positional relation between the positioner and the robot on the basi

Abstract: An industrial robot control method and apparatus having a pulse distributing circuit for executing a pulse distribution operation on the basis of positional command data from taught data to generate distributed pulses, a pulse coder for generating a feedback pulse each time the industrial robot moves a predetermined amount along the Z-axis, an error register for storing the difference between the number of distributed pulses and the number of feedback pulses, and positional control circuitry for positionally controlling the industrial robot in such a manner that said difference approaches zero, compensation being effected for an amount of bending .DELTA.Z of an arm when a workpiece of weight W is gripped. The industrial robot control apparatus includes a memory for storing an amount of bending .DELTA.Z.sub.o of the arm when a workpiece having a predetermined weight W.sub.o is gripped at an arm length l.sub.o, an arithmetic circuit for computing an amount of bending .DELTA.

Abstract: A hand-held application module directs the operation of a programmable manipulator controlled by digital computing means. The module identifies points to which the end effector of the programmable manipulator shall move, programs the programmable manipulator to direct the precise operations relative to the points, selectively runs to one or more points to debug the entered program and retrieves statements for display in its alpha-numeric display facility. Program statements and parameters may be deleted from the program, and program statements and parameters may be added to the program. Entry of commands is made through a keyboard and data is displayed on an alpha-numeric display.

Abstract: Dimensions of a plurality of works of the same specification are subtantially identical among the works. Thus, a teach work point on the work to be worked by an industrial robot and a teach reference point to specify the teach work point are taught to memory means of the industrial robot. In an automatic mode, an actual reference point on the work of the same specification is detected by a sensor and an actual work point of the work is determined based on a difference between the detected actual reference point and the teach reference point and the resulting actual work point is conveyed to the industrial robot.

Abstract: A robot control system for teaching and operating a robot 13 on the basis of a rectangular coordinate system, the robot having an arm which operates on the basis of a cylindrical coordinate system. Provided are a teaching device 101 for providing instructions in the rectangular coordinate system in order to teach the operations performed by the robot 13, a rectangular-to-cylindrical conversion device 104 or 202 for converting the instructions in the rectangular coordinate system from the teaching device 101 into command data in the cylindrical coordinate system, and a data memory 108 for storing the acquired command data in the cylindrical coordinate system.

Abstract: In a robot locus control metod, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working locus.

Abstract: A safety system and method for industrial robots includes a detection arrangement having a detection field covering the area of reach or operation of the robot. Detection data obtained through the detecting arrangement in each of predetermined operation positions of the robot is compared with the detection data indicative of the normal or correct detection field in the same operation position. The movement of the robot to the next operation position is prohibited when a difference of a level exceeding a predetermined level is obtained during the comparison.

Abstract: A method and apparatus for real time editing, or modifying, of a program of prerecorded robot motions stored in a robot controlled memory while it is being processed by the controller for subsequent storage of the program, as edited, in memory and output to the robot for execution.

Abstract: A calibration system for a programmable manipulator having a base and a plurality of segments movable with respect to each other includes a fixture for attachment to the base of the manipulator and a hand-held application module for directing the operation of the programmable manipulator, including a calibration mode operation for initiating calibration of the programmable manipulator. The fixture has an end point to which the end effector of the programmable manipulator attaches. The end point is exactly positioned and oriented with respect to the base thereby establishing a known position and orientation of the end effector. The link lengths (distances between centers of rotation) of the programmable manipulator segments are entered and a computation is made of the displacement between each pair of the plurality of segments and compared with a measured displacement. The difference is an offset which is stored for future correction.