Shin Meiwa Industry Co., Ltd.

Fumio Noguchi

Hideo Koyama

Shigeki Fujinaga

Takahiro Asano

Hirotoshi Yamamoto

Takeshi Hoh

Yoshiaki Nobuhara

Takahiko Kondo

Velocity, at which a work point of a robot passes through respective reference points, has previously been given magnitude and directions dependent on a relative positional relation between a plurality of continuous reference points. The work point passes through the respective reference points. Between adjacent reference points, interpolation arithmetic is performed along the above condition, whereby the work point defines a smooth locus in accordance with the result of the arithmetic.

Robot interpolation control method

An automatic bending apparatus comprises a bending machine (1) provided with a bottom die (7a) and a top die (7b) for bending a plate, and a gripper (27) for holding the plate. The gripper (27) can be positioned in a vertical plane in the forward and backward direction with respect to the bending machine (1) as well as around a horizontal axis orthogonally intersecting with the vertical plane. When the plate is bent by lowering of the top die (7b) or lifting of the bottom die (7a), the ends of the plate rise. In order to make the gripper (27) follow up the rising motion, positioning of the gripper (27) is controlled successively based on the position data concerning the lowering of the top die (7b) or the lifting of the bottom die (7a).

Automatic bending apparatus

An apparatus for controlling an articulated robot comprises coordinate transforming portions (5 to 8 and 18) and a calculating portion (9) for equation of motion. The coordinate transforming portions (5 to 8 and 18) perform coordinate transformation between the Cartesian coordinate system and the articular system with respect to the position data, speed data, acceleration data and force data. The coordinate transforming portions (5 to 8 and 18) are respectively formed of hardware and accordingly, the calculation speed therein is extremely high as compared with the case using software. The calculating portion (9) for equation of motion solves the inverse problem of an equation of motion using the speed data (d.alpha.) and acceleration data (d.sup.2 .alpha.) in the articular coordinate system, whereby predictive control is performed. The calculating portion (9) for equation of motion is also formed of hardware and accordingly, the calculation speed therein is extremely high. In addition, the above described controlling apparatus further comprises a force feedback loop, so that the RCC (Remote Center of Compliance) can be realized in the arms per se of a robot.

Method and apparatus for control of an articulated robot

An articulated robot comprises one or more articulation angles that can assume two states on the occasion of the same position or attitude of an object being controlled. A change from one to the other of the above described two states is taught by operating an operation panel and the respective driving means of two arms constituting one articulation angle are controlled based on the above described teaching information so that the articulation angle may be changed from one state to the other state, whereby rotation of the respective arms is controlled.

Articulated robot

An automatic positioning apparatus comprises a smoothing means. The smoothing means is adapted to connect smoothly a 3-dimensional path based on the preceding and succeeding four taught points irrespective of a straight line or a curved line, while correcting a driving system with a delay of a system of a means being controlled, thereby to achieve a control in consideration of not only inertia but also a response characteristic.

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Takarazuka, Japan

Fumio Noguchi