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1. 发明专利

JPS60217407A SYSTEM FOR AVOIDING INTERFERENCE OF ROBOT BY ADJUSTMENT OF TIMING 失效
公开(公告)号：JPS60217407A
公开(公告)日：1985-10-31
申请号：JP7276884
申请日：1984-04-13
申请人： HITACHI LTD
发明人： OZAWA KUNIAKI , SHINNAI KOUSUKE , KUMAMOTO KENJIROU , KATOU SHIYUUSEI , SASAKI RIYOUICHI
IPC分类号： G05B9/02 , B25J9/16 , B25J9/22 , G05B19/4155
摘要： PURPOSE:To improve the teaching efficiency by increasing a waiting time organically so as to attain simulation and obtaining the waiting time when no interference is caused as an optimum waiting time thereby eliminating the avoidance of interference in terms of try and error. CONSTITUTION:A robot is selected according to a command from an input device 1 to which robot in two robots a waiting time is given. Then the waiting time is realized by retarding a time series data of the attitude of the robot in a memory 3 by a unit time sigma. When no interference takes place as the result of detection of interference by means of an interference detecting operator 6 by using said time series data, the time sigma is taken as the minimum waiting time and when not, the waiting time is increased by a unit time, 2delta, 3delta- are given one after another as the waiting time, and the operator 6 simulates the detection of interference and the waiting time when no interference takes place is taken as the optimum waiting time.

2. 发明专利

JPS60217410A SYSTEM FOR DETECTING ROBOT INTERFERENCE IN TEACHING OF COOPERATION WORK 失效
公开(公告)号：JPS60217410A
公开(公告)日：1985-10-31
申请号：JP7276984
申请日：1984-04-13
申请人： HITACHI LTD
发明人： OZAWA KUNIAKI , SHINNAI KOUSUKE , KUMAMOTO KENJIROU , KATOU SHIYUUSEI , SASAKI RIYOUICHI
IPC分类号： G05B9/02 , B25J9/16 , B25J9/22 , G05B19/42
摘要： PURPOSE:To improve the accuracy of detection of interference of robot hands by correcting a parameter only with the interference of links at the outermost tip of the robot in comparing the shortest distance between two line segments with a predetermined parameter. CONSTITUTION:In expressing each link of the robot as a center line segment, equations of straight line segments including end points A, B and C, D of each line segment are expressed by parameters at first. Then the shortest distance between robots is obtained and the minimum distance (d) smallest in them is obtained, it is compared with an interference parameter (c) and it is discriminated that an interference exists with d

3. 发明专利

JPS60217406A SYSTEM FOR DECIDING TORCH HOLDING ATTITUDE OF WELDING ROBOT 失效
公开(公告)号：JPS60217406A
公开(公告)日：1985-10-31
申请号：JP7276584
申请日：1984-04-13
申请人： HITACHI LTD
发明人： OZAWA KUNIAKI , SHINNAI KOUSUKE , KUMAMOTO KENJIROU , KATOU SHIYUUSEI , SASAKI RIYOUICHI
IPC分类号： B23K9/12 , B25J9/10 , B25J9/16 , G05B19/42
摘要： PURPOSE:To decrease remarkably the teaching time by the operator by deciding the torch holding attitude from the direction of a torch decided by a CAD data and the direction of a turning shaft taking the limitation of mechanism into account. CONSTITUTION:A normal vector at a welding point P is obtained as a vector OP tying a center point O of a radius and the welding point P. Although the vector OP is described to a work coordinate system R2, a transforming matrix OP from a reference coordinate system Ro to the Rw is multiplied by describing it as a vector to the reference coordinate system Ro. Thus, the direction of the torch to the coordinate system Ro is decided and the X axis of the torch coordinate system T is decided. Since the Z axis in a Z axis direction deciding T coordinate system satisfies two conditions that the Z axis in a plane perpendicular to the X axis due to the limitation of mechanism of the robot and in a plane Q perpendicular to the running axis due to the limitation of mechanism, the direction of the Z axis is decided as a cross line of planes satisfying the conditions. The direction of the Y axis is decided definitely when the direction of the X and Z axes is decided.

4. 发明专利

JPS60198602A POSTURE DECIDING SYSTEM FOR MULTI-JOINT ROBOT 失效
公开(公告)号：JPS60198602A
公开(公告)日：1985-10-08
申请号：JP5424184
申请日：1984-03-23
申请人： HITACHI LTD
发明人： OZAWA KUNIAKI , SHINNAI KOUSUKE , KUMAMOTO KENJIROU , SHINTANI SADANORI , KATOU SHIYUUSEI
IPC分类号： B25J9/16 , G05B19/18
摘要： PURPOSE:To decide a robot posture for smooth execution of its working by selecting an angular posture having a smaller angle difference from the preceding angle than the present time point by a prescribed time point in case it is impossible to decide well-definedly the robot posture. CONSTITUTION:A multi-joint robot 5 reads the model data for execution of a curved surface copying job out of a model data storage device 1 of a work 6. The posture of the robot 5 is calculated by a posture calculating device 2 and stored to a memory 3. Thus the robot 5 is controlled by a controller 4 based on the posture data. Each freedom degree of the robot 5 (joint angles theta2-theta5 and traveled distance d1) is obtained through the calculation of said position data. However it is sometimes impossible to decide well-definedly the joint angle theta3 at the present time point. In such a case, a smaller difference from the angle theta3 set before a certain tine point is selected to select a posture which produces a small change of the angle theta2. In such a way, a due posture of the robot 5 is decided in consideration of the posture continuousness. In this way, the working efficiency of the robot 5 is increased.

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