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1. 发明申请

WO1998006545A1 STITCH PROCESSING METHOD USING INDUSTRIAL ROBOT 审中-公开
标题翻译：使用工业机器人的STITCH加工方法
公开(公告)号：WO1998006545A1
公开(公告)日：1998-02-19
申请号：PCT/JP1997002827
申请日：1997-08-13
申请人： FANUC LTD , WATANABE, Atsushi , KATO, Tetsuaki , SHIRAHATA, Toru , NAGAYAMA, Atsuo
发明人： FANUC LTD
IPC分类号： B25J09/18
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch processing method using an industrial robot which is simple in teaching and capable of performing an accurate stitch processing. Processing (application of sealing agent) block distances (n1) and non-processing block distances (n2) are set on a robot control device as shown in Fig. 5b without teaching switching points (P1, P2,...), between blocks of sealing agent application and blocks of non-application in a sealing processing or the like as shown in Fig. 5a. The robot control device monitors moving distances and permits stitch processing by switching between non-processing and processing for every movement of the distance (n1) or the distance (n2). As shown in Figs. 5c and 5g, a starting point and a terminal point in one block belong to the processing block distance (n1). It is also possible to perform stitch processing continuously over a plurality of blocks as shown in Fig. 5d. It is also possible to perform stitch processing including a set number of processings and non-processings in one block as shown in Fig. 5f.
摘要翻译：一种使用工业机器人的线迹处理方法，其简单的教导并且能够进行精确的针迹处理。如图1所示，在机器人控制装置上设置加工（密封剂的应用）块距离（n1）和非处理块距离（n2）。 5b，没有教导切换点（P1，P2，...），密封剂应用块和密封处理中的不施加块等，如图5所示。 5A。机器人控制装置通过在距离（n1）或距离（n2）的每次移动中切换非处理和处理来监视移动距离并允许缝合处理。如图1 如图5c和5g所示，一个块中的起点和终点属于处理块距离（n1）。也可以如图3所示在多个块上连续进行线迹处理。 5D。也可以在一个程序段中执行包括设定数量的处理和非处理的缝合处理，如图6所示。 5F。

2. 发明申请

WO1998008149A1 ACCELERATION/DECELERATION CONTROL METHOD 审中-公开
标题翻译：加速/减速控制方法
公开(公告)号：WO1998008149A1
公开(公告)日：1998-02-26
申请号：PCT/JP1997002946
申请日：1997-08-25
申请人： FANUC LTD , KATO, Tetsuaki , NAGAYAMA, Atsuo
发明人： FANUC LTD
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/43005 , G05B2219/43129
摘要： At a corner part where a smooth motion is instructed, cos theta (wherein theta denotes a corner angle) is obtained (A3 - A5). Then a coefficient (k) is obtained (A6) by a following formula: (k) = 1 + 0.5(1 - cos theta ). A value T obtained by multiplying a positioning time constant T0 by the coefficient (k) (A7) is used as a deceleration time constant Tb and an acceleration time constant Ta (A9 and A11). At theta = 0 (straight line), (k) = 1 and then Ta = T0 and Tb = T0. In a reversing motion, theta = 180 DEG and (k) = 2. Then Ta = 2T0 and Tb = 2T0. Thus the time constants are adjusted and the acceleration/deceleration can be processed in a minimum time within the limit value of the output torque of a servomotor.
摘要翻译：在指示平滑运动的角部，获得cosθ（其中θ表示角角）（A3-A5）。然后通过以下公式获得系数（k）（A6）：（k）= 1 + 0.5（1-cosθ）。使用通过将定位时间常数T0乘以系数（k）（A7）而获得的值T作为减速时间常数Tb和加速时间常数Ta（A9和A11）。在θ= 0（直线），（k）= 1，然后Ta = T0和Tb = T0。在反转运动中，θ= 180°，（k）= 2。那么Ta = 2T0和Tb = 2T0。因此，调整时间常数，并且可以在伺服电动机的输出转矩的极限值内的最小时间内处理加速/减速。

3. 发明申请

WO1998006015A1 MOVEMENT CONTROL METHOD FOR TEACHING POSITION OF ROBOT 审中-公开
标题翻译：机器人教学位置运动控制方法
公开(公告)号：WO1998006015A1
公开(公告)日：1998-02-12
申请号：PCT/JP1997002766
申请日：1997-08-07
申请人： FANUC LTD , WATANABE, Atsushi , KATO, Tetsuaki , NAGAYAMA, Atsuo , KUMIYA, Hidetoshi
发明人： FANUC LTD
IPC分类号： G05B19/427
CPC分类号： G05B19/408 , G05B2219/36404 , G05B2219/36412 , G05B2219/36414 , G05B2219/50138
摘要： A mark member (A1) is stuck onto a work (3) with a certain relation with a teaching desired position on the work (3). The movement of the robot is autonomously controlled and the position teaching is performed in accordance with the present positions of the robot hand at the respective timings of the robot movement, the positions on a camera coordinate system of the mark member at the respective timings of the robot movement and the postures of the robot viewed from the camera coordinate system, the position on the camera coordinate system of the mark member (A1) when the robot reaches the teaching desired position and the posture of the robot viewed from the camera coordinate system, and the position on the camera coordinate system and the posture of the robot viewed from the robot hand.
摘要翻译：标记部件（A1）被卡在工件（3）上，与工件（3）上的教学期望位置具有一定的关系。机器人的移动被自主地控制，并且根据机器人手的各自的定时的机器人手的当前位置执行位置教导，在各个时刻的标记构件的相机坐标系上的位置机器人运动和从摄像机坐标系观察的机器人的姿势，当机器人到达教导期望位置时标记构件（A1）的摄像机坐标系上的位置和从摄像机坐标系观察的机器人的姿势，以及摄像机坐标系上的位置以及从机器人手中观察的机器人的姿势。

4. 发明申请

WO1997049014A1 METHOD OF AVOIDING INTERFERENCE OF INDUSTRIAL ROBOT 审中-公开
标题翻译：避免工业机器人干扰的方法
公开(公告)号：WO1997049014A1
公开(公告)日：1997-12-24
申请号：PCT/JP1997002093
申请日：1997-06-18
申请人： FANUC LTD , KATO, Tetsuaki , NAGAYAMA, Atsuo
发明人： FANUC LTD
IPC分类号： G05B19/19
CPC分类号： B25J9/1666 , B25J9/1674 , G05B19/4061 , G05B19/425 , G05B2219/39082 , G05B2219/39083 , G05B2219/39085 , G05B2219/39105 , G05B2219/45143 , G05B2219/49137 , Y02P90/087
摘要： Teaching an operation program to an industrial robot is easy and interference between the robot and an external apparatus is avoided. When the present position of a reference point on the robot which is provided to detect interference is out of a common region (S12) and, further, the target position of the reference point is out of the common region (S18), a moving instruction is outputted to drive the robot. When the target position of the reference point is within the common region, it is judged whether the movable part of a cooperating apparatus is within the common region or not, when it is not, a motion prohibiting signal sent to the cooperating apparatus is turned on and a moving instruction is outputted to move the robot. When the movable part of the cooperating apparatus is within the common region, the moving instruction is held until the movable part of the cooperating apparatus is moved out of the common region (S4 and S5). When the present position of the reference point is within the common region (S12), the motion of the cooperating apparatus is prohibited (S15 and S17).
摘要翻译：向工业机器人讲授操作程序容易，避免了机器人与外部设备之间的干扰。当提供用于检测干扰的机器人上的参考点的当前位置在公共区域之外时（S12），并且此外，参考点的目标位置在公共区域之外（S18），移动指令被输出以驱动机器人。当参考点的目标位置在公共区域内时，判断协作装置的可移动部分是否在公共区域内，否则当发送到协作装置的运动禁止信号被打开时并输出移动指令来移动机器人。当协作装置的可移动部分在公共区域内时，保持移动指令直到协作装置的可移动部分移出公共区域（S4和S5）。当参考点的当前位置在公共区域内时（S12），禁止协作装置的运动（S15和S17）。

5. 发明申请

WO1997001801A1 METHOD OF SETTING ACCELERATION/DECELERATION OPERATION OF ROBOT 审中-公开
标题翻译：设定机器人加速/减速运行的方法
公开(公告)号：WO1997001801A1
公开(公告)日：1997-01-16
申请号：PCT/JP1996001819
申请日：1996-07-01
申请人： FANUC LTD , KATO, Tetsuaki , NAGAYAMA, Atsuo
发明人： FANUC LTD
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/40453 , G05B2219/40523 , G05B2219/43069
摘要： A method of setting an acceleration/deceleration operation of a robot, wherein the torque of the robot is efficiently utilized without saturation. A movement ratio r expressing a position which satisfies the condition of the occurrence of a maximum torque at a position requiring the maximum torque inside one operation zone is determined by successive approximation. First, a 0-order approximation solution (initial value) is set to iro = 0. Next, the equation of motion is calculated at the position iro and an acceleration is determined so as to generate the maximum torque. Then, the position where a maximum torque is generated when the acceleration so calculated is used, is determined, and is set to irk+1. The difference |irk+1 - irk| between irk+1 so calculated and irk calculated previously is calculated, and whether or not the difference exceeds a predetermined minute value epsilon is checked. If the result proves YES, the flow returns to S3. If it proves NO, irsol = irk+1 is set and stored, and the index i is incremented by 1 and k is cleared to k = 0. If the calculation of all axes is not yet completed, the flow returns to S1. If the calculation of all the axes is completed, the flow proceeds to S7. Among irsol at S7, the maximum is set to rsol, and the acceleration corresponding to rsol is determined for all the axes, and the condition of the acceleration operation for each axis is set.
摘要翻译：一种设定机器人的加减速运转的方法，其中机器人的转矩在没有饱和的情况下被有效利用。通过逐次逼近来确定表示满足在一个操作区域内需要最大扭矩的位置处发生最大扭矩的条件的位置的移动率r。首先，将0阶近似解（初始值）设置为iro = 0。接下来，在位置iro处计算运动方程，并且确定加速度以产生最大扭矩。然后，确定使用如此计算的加速度时产生最大扭矩的位置，并将其设定为irk + 1。差异| irk + 1 - irk | 计算以前计算的irk + 1和之前计算的irk，并且检查差异是否超过预定的微小值ε。如果结果为“是”，则流程返回到S3。如果证明为NO，则irsol = irk + 1被设置并存储，并且索引i被递增1并且k被清除为k = 0。如果所有轴的计算尚未完成，则流程返回到S1。如果所有轴的计算完成，则流程进行到S7。在S7中的irsol中，最大值设置为rsol，并且对于所有轴确定与rsol相对应的加速度，并且设置每个轴的加速操作的条件。

6. 发明申请

WO1996015480A1 METHOD OF SETTING TIME CONSTANT IN PLANNING PATH OF ROBOT 审中-公开
标题翻译：在机器人规划路径中设置时间常数的方法
公开(公告)号：WO1996015480A1
公开(公告)日：1996-05-23
申请号：PCT/JP1995002276
申请日：1995-11-07
申请人： FANUC LTD. , HARA, Ryuichi , NAGAYAMA, Atsuo
发明人： FANUC LTD.
IPC分类号： G05B19/18
CPC分类号： G05B19/416 , G05B2219/43099
摘要： A method for determining the acceleration/deceleration time constant of a servo motor in planning the path of an industrial robot. When the time constant is determined, calculation is made taking into account the torque generated by the interference with another shaft caused when a plurality of shafts are simultaneously operated when the robot is moved along a desired path. Therefore, the path of the robot is not deviated since the torque is not saturated even when there is an influence of the interferential torque. In addition, when the influence of the interferential torque is little, a shorter time constant is given, and hence the cycle time is improved.
摘要翻译：一种用于在规划工业机器人的路径时确定伺服电动机的加速/减速时间常数的方法。当确定时间常数时，考虑到当机器人沿所需路径移动时同时操作多个轴时由与另一轴的干涉产生的扭矩进行计算。因此，即使存在干涉转矩的影响，由于转矩不饱和，机器人的路径也不会偏离。此外，当干扰转矩的影响小时，给出较短的时间常数，因此提高了循环时间。

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