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11. 发明专利

JPS63259703A INDUSTRIAL ROBOT WITH TEACHING DATA CONVERTING FUNCTION 失效
公开(公告)号：JPS63259703A
公开(公告)日：1988-10-26
申请号：JP9304587
申请日：1987-04-17
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI
IPC分类号： G05B19/42 , B25J9/22
摘要： PURPOSE:To share a teaching data between different kinds of industrial robots by providing a means, which converts the teaching data of the industrial robot having been used up to this time into the teaching data to be newly used by the industrial robot to be newly used. CONSTITUTION:The position of the point P of the industrial robot, having been used up to this time, is expressed by a teaching data theta1-theta6 by using mechanism constants L2-L5. If the position coordinate of the point P is given, the teaching data theta1'-theta6' at the point P' of the industrial robot to be newly used can be obtained by a prescribed expression by using the mechanism constants L2'-L5' of the industrial robot to be newly used. Thus, the teaching data, which was taught at some industrial robot, can be used in common for other optional industrial robot, and therefore, even when the industrial robot of the different kind is used, the same trouble to teach the teaching data can be omitted, and a misteach can be prevented.

12. 发明专利

JPH05143151A CONTROLLER FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH05143151A
公开(公告)日：1993-06-11
申请号：JP33446791
申请日：1991-11-25
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： KODAIRA KOJI , ANDO TAKESHI , TSUCHIDA KATSUYA , ONOO KOUJI , SHIINA TSUKASA , YOKOYAMA SHIGEYOSHI , SUZUKI MASAFUMI
IPC分类号： B25J9/22 , G05B19/42
摘要： PURPOSE:To execute teaching operation by a teaching system optionally selected from plural different teaching systems. CONSTITUTION:Plural teaching processing programs 21A, 22B, 22C, 22D having respectively different teaching contents are previously prepared and teaching operation based upon an optional teaching system specified by a user is executed. Since the teaching system sufficiently matched with working contents to be executed by a robot can be selected, working efficiency for teaching can be improved.

13. 发明专利

JPH0557642A INDUSTRIAL ROBOT CONTROL DEVICE 失效
公开(公告)号：JPH0557642A
公开(公告)日：1993-03-09
申请号：JP23687291
申请日：1991-08-26
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , TERAMOTO KAZUYOSHI , SARUGAKU SHINICHI , ANDO TAKESHI , YAMAGUCHI TOSHIHIRO , YOKOYAMA SHIGEYOSHI , SESHIMO TATSUYA , HIROBE KENJI
IPC分类号： B23K9/12 , B23K9/127 , B25J9/10 , G05B19/4093
摘要： PURPOSE:To remove a re-interpolation in the case of interpolation end by correcting a weaving frequency so that a weaving superimposition amount may become zero corresponding to the moving distance and moving speed of a robot in a section between an interpolation start point and end point. CONSTITUTION:An interpolation distance L and vector IL are calculated by an interpolation start point Ps and interpolation end point Pc and a corrected frequency F' is calculated so that a weaving amount at the interpolation end point may become zero. Then, the position IPi of a work point is calculated and further, a corrected weaving frequency is calculated when the operation speed or weaving frequency of the work point is changed during interpolation operation. A weaving phase and an interpolation accumulated time in a present interpolation period are calculated and after calculating the weaving vector based on a renewed phase, a weaving vector IW is added to the position vector IPi of the work point and a position vector IPi' to be approached in the present interpolation period is calculated. The change of a joint angle corresponding to the position vector IPi' carried out so as to move respective actuators.

14. 发明专利

JPH01240284A ROBOT CONTROLLER 失效
公开(公告)号：JPH01240284A
公开(公告)日：1989-09-25
申请号：JP6331688
申请日：1988-03-18
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , SUMITA MAKI , FUJII KENJIRO
IPC分类号： B25J9/22
摘要： PURPOSE:To facilitate the operation of an instruction by a robot by making a constitution so that the movements of the fingers of a manipulator at the time of a manual operation may appear on imaginary co-ordinates which are decided by the two different finger positions of the manipulator. CONSTITUTION:An imaginary co-ordinate system 5 which is decided by the two different finger positions of a manipulator within the standard co-ordinate system 4 of a robot, is set at every optional finger position by means of a setting means. A manual operation command inputted on the basis of this set imaginary co-ordinate system 5 is changed to the finger position of the manipulator at the standard co-ordinate system 4 by means of a control means, and the movements of the fingers of the manipulator are made to appear on these imaginary co-ordinates 5. As a result, a manual control operation can be conducted as the movement of the robot which is in keeping with the direction of a work object at all times, and the operation of an instruction at the teaching and play-back method robot can be easily conducted.

15. 发明专利

JPS6334085A ATTITUDE RENDERING METHOD OF JIG FOR ROBOT 失效
公开(公告)号：JPS6334085A
公开(公告)日：1988-02-13
申请号：JP17164386
申请日：1986-07-23
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI
IPC分类号： G05B19/18 , B25J9/22 , G05B19/404 , G05B19/4093 , G05B19/42

16. 发明专利

JPS61250705A COORDINATE CONVERSION SYSTEM FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS61250705A
公开(公告)日：1986-11-07
申请号：JP9083885
申请日：1985-04-30
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , SUMITA MAKI
IPC分类号： B25J9/22 , B25J9/10 , G05B19/4093
摘要： PURPOSE:To obtain a proper control system in the relation with an actual work by using a normalized coordinate conversion matrix normalizing a refer ence coordinate conversion matrix so as to apply coordinate conversion. CONSTITUTION:After the operation of a conventional reference coordinate conversion matrix utilized for coordinate conversion by a block 1000 at first, the 2nd process correcting the result so as to cancel the change in the length attended with coordinate conversion is performed at the block 2000 and the effect of 3-dimensional distortion of a work being an object of job is excluded. After said reference coordinate conversion matrix is used to apply coordinate conversion for a position data (block 3000), the attitude data with respect to the controlled system is applied with coordinate conversion by using the normal ized coordinate conversion matrix.

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