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1. 发明授权

US5353386A Apparatus for controlling industrial robot system to perform coordinated operation using teaching playback method and method thereof 失效
标题翻译：用于控制工业机器人系统以使用教学回放方法及其方法执行协调操作的装置
公开(公告)号：US5353386A
公开(公告)日：1994-10-04
申请号：US909159
申请日：1992-07-06
申请人： Fumio Kasagami , Seisuke Kugumiya
发明人： Fumio Kasagami , Seisuke Kugumiya
IPC分类号： B25J9/16 , B25J9/18 , G06F15/46
CPC分类号： B25J9/1682
摘要： In an apparatus for controlling an industrial robot system comprising a workpiece handling apparatus having first revolute joints for moving a workpiece, and a tool moving apparatus having second revolute joints for moving a tool so as to move the workpiece and the tool on a predetermined trajectory between two adjacent teaching points, there are calculated a position and an attitude of a predetermined coordinate system of a predetermined workpiece attachment reference point based on a coordinate system of a baseplane of said workpiece handling apparatus, and a position and an attitude of a predetermined coordinate system of a predetermined tool attachment reference point based on a coordinate system of a baseplane of said tool handling apparatus, from inputted teaching data. Further, there are calculated joint variables of the first and second revolute joints for moving tile workpiece and the tool on the trajectory, from the calculated data. Finally, the first and second revolute joints are simultaneously driven in accordance with the calculated joint variables thereof.
摘要翻译：一种用于控制工业机器人系统的装置，包括具有用于移动工件的第一旋转接头的工件处理装置和具有用于移动工具的第二旋转接头的工具移动装置，以便使工件和工具在预定轨迹上移动两个相邻的示教点，基于所述工件处理装置的基板的坐标系以及预定的坐标系的位置和姿态来计算预定的工件附着参考点的预定坐标系的位置和姿态根据输入的教导数据，基于所述工具处理装置的基准面的坐标系的预定的工具附着参考点。此外，根据计算的数据，计算出第一和第二旋转关节的关节变量，用于在轨迹上移动瓦片工件和工具。最后，根据其计算出的关节变量同时驱动第一和第二旋转接头。

2. 发明授权

US5243266A Teaching control device for manual operation in an industrial robots-system 失效
标题翻译：用于在工业机器人系统中手动操作的教学控制装置
公开(公告)号：US5243266A
公开(公告)日：1993-09-07
申请号：US908196
申请日：1992-07-02
申请人： Fumio Kasagami , Seisuke Kugumiya
发明人： Fumio Kasagami , Seisuke Kugumiya
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J9/22 , B25J13/06
CPC分类号： B25J9/1682
摘要： An industrial robotic system related to the present invention provides a workpiece handling robot manipulating a workpiece and a tool handling robot manipulating a tool processing the workpiece. A teaching control device for manual operation of the robotic system controls not only the execution of a conventional sole-acting manual mode of operation, but also the execution of a co-acting manual mode of operation. According to a co-acting manual mode of operation, "a relative position and a relative attitude of a tool against a workpiece" are maintained substantially constant.When the manipulation of the workpiece is executed in order to get a new setting state by means of a co-acting manual mode of operation from an initial setting state, the tip point of the tool is remained at an aimed point on the workpiece and an attitude of the tool against the workpiece is maintained without interference between the tool and the workpiece.The new setting state for teaching a new teaching point is established by means of sole-acting manipulating the tool from the aimed point manipulated by the workpiece handling robot to a new aimed on the workpiece.

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