Fanuc Robotics North America, Inc.

Fanuc America Corporation

Fanuc Robotics America Corporation

Eric C Lee

H Dean McGee

Sai-Kai Cheng

Peter J Swanson

Chi-Keng Tsai

Hadi A Akeel

Jason Tsai

Yi Sun

Ho Cheung Wong

Min-Ren Jean

Leo Keselman

Akihiro Yanagita

Frank Garza

Robert V Bauer, Jr

Matthew DeNio

Methods and systems include ways to synchronize a press machine and tending robots, including a pick robot and a drop robot, where the press machine includes an operating area for pressing a blank into a part. The pick robot and the part are moved out of the operating area while the drop robot carrying the blank is moved into the operating area. At least a portion of the pick robot and/or the part resides within the operating area at the same time at least a portion of the drop robot and/or the blank resides within the operating area. The pick robot is in communication with the drop robot and the movement of the pick robot is synchronized with the movement of the drop robot to prevent the pick robot or part from colliding with the drop robot or the blank.

Automatic synchronization of press machines and robots

A system and a method for converting a machine tool program in NC programming language to permit a robot controller to execute the program. A robot controller converts the NC program into robot language according to a conversion configuration table, and uses the converted language as pseudo program data internally stored in a data memory within the robot controller. Each M-code (Miscellaneous code) in the NC program is executed as a sub-program call using the robot language. The content of the sub-programs can be freely defined and programmed by the user and, therefore, can be customized for the specific application.

Numerical control program execution by robot

A robot calibration system for calibrating a robot and a method of determining a position of the robot to calibrate the robot are disclosed. The system includes an electrical ground defining a return for an electrical circuit. The robot, which is electrically connected to the ground, includes an arm having a tool surface operating within a robot workspace. The system also includes an electrical supply and a detection device. The electrical supply defines a source for the circuit and provides a charge and a reference voltage to the system. The detection device communicates with the electrical supply to detect variations in either the charge, the reference voltage, or both. The system further includes a calibration object. The calibration object is electrically insulated from the ground and is electrically connected to the electrical supply. The calibration object receives the charge and the reference voltage from the electrical supply to determine the position of the robot relative to the calibration object when the tool surface moves toward the calibration object to electrically interact with the calibration object.

Robot calibration system and method of determining a position of a robot relative to an electrically-charged calibration object

A method of teaching a robot a desired operating path and a lead-through teach handle assembly are disclosed. A mounting mechanism mounts the entire handle assembly to an arm of the robot. The handle assembly also includes a handle that is supported by the mounting mechanism. A robot operator utilizes the handle assembly and grasps the handle to apply an external force to move the robot arm, or the operator, without the handle assembly, directly holds a tool connected to the robot arm to apply the external force at the tool. The handle assembly is characterized by a universal joint that interconnects the handle and the mounting mechanism and that accommodates orientation changes of the handle relative to the mounting mechanism that result from translational and rotational movement of the robot arm as the user is teaching the robot. The external force applied at the tool is estimated with either a force sensor disposed on the handle assembly or by monitoring the torque of motors used to move the robot. Motion commands are generated in response to the estimated force to power assist the operator in moving the robot arm. During teaching of the robot, the operator selects either a translational operating mode which limits the movement imparted on the tool only to translational movement, or a rotational operating mode which limits the movement imparted on the tool only to rotational movement.

Lead-through teach handle assembly and method of teaching a robot assembly

A method of determining contact positions of a robot relative to a workpiece in a workspace of the robot. The method utilizes the contact positions to determine a location of the workpiece in the robot workspace. The method also monitors an integral operating parameter within the robot, such as motor torque, to determine the contact positions of the robot relative to the workpiece and to locate the workpiece.

Method of determining contact positions, calibration parameters, and reference frames for robot assemblies

A method for teaching movements to a robot (,) is disclosed. The robot (,) includes a fixture (,) for cooperating with a workpiece (,), at least one sensor (,) for sensing a spatial relationship of the robot fixture (,) relative to the workpiece (,), at least one motor (,), and a microprocessor (,) for controlling motion of the robot (,) relative to the workpiece (,). The method comprises the steps of storing a predetermined spatial relationship between the robot fixture (,) and the workpiece (,) in the microprocessor (,), imparting movement onto the robot (,), either by an operator physically moving the robot (,) or by actuating a joystick or a teach pendant to step the robot (,) through a desired set of motions, recording the imparted movement on the robot (,) in the microprocessor (,), using the recorded imparted movement to establish initial movement commands, continuously sensing a spatial relationship of the robot fixture (,) relative to the workpiece (,), and comparing the sensed relationship of the robot fixture relative (,) to the workpiece (,) to the predetermined spatial relationship to determine a deviation from the predetermined spatial relationship. The imparted movement of the robot (,) is continuously modified based upon the determined deviation to maintain the spatial relationship of the robot fixture (,) relative to the workpiece (,) during teaching of the robot (,).

Method of robot teaching with motion constraints

A robot calibration system includes a calibration sensor that provides an indication of when a first reference point that remains fixed relative to a robot base is a fixed distance from a second reference point that is located on the robot arm. The robot arm is moved through a plurality of orientations and each time that the fixed distance between the two reference points is achieved, robot joint position information is determined. The preferred calibration sensor includes a string that extends between the two reference points and activates a signal generator each time that the string is taut as caused by the orientation of the robot arm. The generated signal indicates that the two reference points are separated by the fixed distance. The determined robot joint positions are then used to determine a calibration factor which varies depending on the needs of a particular situation. Example calibration factors are useful for correcting errors in robot kinematic information, locating the workcell reference frame and locating the tool center point reference frame.

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Bloomfield Hills, MI, United States of America

Eric C Lee