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    • 8. 发明授权
    • Robot control method and apparatus
    • 机器人控制方法及装置
    • US5133047A
    • 1992-07-21
    • US473741
    • 1990-02-02
    • Kazuo HarikiKazuya IshiguroTatsuya Koizumi
    • Kazuo HarikiKazuya IshiguroTatsuya Koizumi
    • B25J9/16B25J9/18B25J13/00G05B19/418G05B19/42
    • G05B19/4182Y02P90/083
    • A robot control method of the playback type and an apparatus for using the method in which position data and data regarding velocity are taught at a sequence of points for a work program, and a servo system is driven by the use of the taught data to playback or repeat the work program. Phase angles which increase as the robot progresses through the sequence of teaching points are taught as the data regarding the velocity of the work program. At playback, a reference phase angle computed on the basis of a previously-set playback cycle time for the work program. The reference phase angle increases at an advance velocity which decreases with an increase in the playback cycle time. During operation, the reference phase angle is compared with one of the taught phase angles, and the corresponding taught position data is outputted to the servo system when the reference phase angle exceeds the taught phase angle.
    • 重放类型的机器人控制方法和使用方法的装置,其中在工作程序的一系列点上教导关于速度的位置数据和数据,并且通过使用所教导的数据来播放伺服系统来驱动 或重复工作程序。 作为机器人通过教学点序列而增加的相角被教导为关于工作程序的速度的数据。 在回放时,基于工作程序的预先设定的回放周期时间计算出的基准相位角。 参考相位角以随着再现周期时间的增加而减小的提前速度增加。 在操作期间,将参考相位角与教导的相位角之一进行比较,并且当参考相位角超过教导的相位角时,相应的教导位置数据被输出到伺服系统。