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    • 4. 发明授权
    • Industrial robot control method and apparatus
    • 工业机器人控制方法及装置
    • US5285525A
    • 1994-02-08
    • US654542
    • 1991-02-13
    • Yoichi NagaoHideaki OhtaKazuhiko OnoueHisanori Nakamura
    • Yoichi NagaoHideaki OhtaKazuhiko OnoueHisanori Nakamura
    • B25J9/10B23K9/12B25J9/06B25J9/16B25J9/18B25J9/22B25J13/00G05B19/4093G05B19/18
    • B25J9/1607B25J9/06
    • A method and apparatus for controlling an industrial robot. Values of .theta..sub.i for positions/postures of robot axes are determined, when a work mounted to the end of a robot hand is located adjacent to the end of a fixed tool, the tool being separated from the robot. Positions/postures Xi are determined in a reverse representation of the robot base for a coordinate system of the end of the hand, for the values of .theta..sub.i, by a forward transformation operation by which positions/postures of the end of the hand with respect to the base are determined using the values .theta..sub.i. Positions/postures T.sub.i in a matrix representation of the end of the tool in the coordinate system of the end of the hand are also determined, for the positions/postures of the axes, based on X.sub.i and predetermined positions/postures P of the end of the tool using the coordinate system of the base. Intermediate positions/postures T.sub.j each between two T.sub.i positions/postures are determined, using an interpolation function. Positions/postures X.sub.j are determined in a reverse matrix representation of the base using the coordinate system of the end of the hand based on P and T.sub.j. Positional values .theta..sub.j corresponding to positions/postures of the axes and to X.sub.j are determined, using a reverse transformation operation. The robot is then driven using .theta..sub.j.
    • 一种用于控制工业机器人的方法和装置。 确定机器人轴的位置/姿势的(θ)i的值,当安装到机器人手的末端的工件位于与固定工具的端部相邻时,该工具与机器人分离。 位置/姿势X(OVS)i以对于手的结束的坐标系的机器人基座的反向表示来确定,对于(θ)i的值,通过正向变换操作来确定 使用值(θ)i确定手的相对于基准的结束。 位置/姿势也根据X(OVS)i和预定位置/姿势P来确定在手端的坐标系中工具端部的矩阵表示中的位置/姿势 的工具的末端使用基座的坐标系。 使用内插函数确定在两个Ti位置/姿势之间的中间位置/姿势Tj。 位置/姿势X(OVS)j使用基于P和Tj的手的结束坐标系,在基底的反向矩阵表示中确定。 使用逆变换操作来确定对应于轴的位置/姿势和Xj的位置值(θ)j。 然后使用(theta)j驱动机器人。