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1. 发明授权

US06243621B1 Method of determining workpiece positions including coordinated motion 失效
标题翻译：确定工件位置的方法，包括协调运动
公开(公告)号：US06243621B1
公开(公告)日：2001-06-05
申请号：US09039114
申请日：1998-03-13
申请人： Jianming Tao , Jason Tsai , Robert A. Bolhouse
发明人： Jianming Tao , Jason Tsai , Robert A. Bolhouse
IPC分类号： G06F1900
CPC分类号： B25J9/1694 , G05B2219/40383 , G05B2219/40625
摘要： A method of determining position information of a workpiece relative to a robot includes the ability to move the workpiece into a variety of orientations relative to the robot during the touch sensing location procedure. The position information is then used for performing a robot operation including coordinated motion. A coordinated reference frame is defined with respect to a moveable positioner that supports the workpiece. Known kinematic relationships between the positioner and the robot are used to control operation of the robot within the coordinated reference frame throughout the touch sensing location procedure. By moving the workpiece relative to the robot during the touch sensing location procedure, a greater variety of workpieces can be processed and relatively complicated workpiece configurations can be accurately determined. The robot operating parameters are modified according to the determined position information.
摘要翻译：确定工件相对于机器人的位置信息的方法包括在触摸感测定位过程期间将工件相对于机器人移动到各种取向的能力。然后，位置信息用于执行包括协调运动的机器人操作。相对于支撑工件的可移动定位器来定义协调的参考框架。定位器和机器人之间的已知运动学关系用于在整个触摸感测定位过程中控制协调参考系中机器人的操作。通过在触摸感测位置程序期间相对于机器人移动工件，可以处理更多种类的工件，并且可以准确地确定相对复杂的工件配置。机器人操作参数根据确定的位置信息进行修改。

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