Kabushiki Kaisha Yaskawa Denki

Kabushiki Kaisha Yaskawa Denki Seisakusho

Yaskawa Electric Manufacturing Co., Ltd.

Hajime Fujii

Satoru Nio

Shinji Okumura

Hiroyuki Handa

Keiichi Takaoka

Shinobu Sato

Toyoji Hamashima

Kiminori Nishimura

Noriyuki Ohsawa

Tadayuki Amano

Michiko Suzushima

Isao Nishimura

Takanori Mitsushio

Automatic welding condition setting device

According to the invention, the fiber scope is inserted into the highly rigid tube and this tube is clamped as a rigid member by the robot wrist (or fiber scope supporting device) and camera supporting device, thereby allowing the camera supporting device and tube to move intergrally with the robot wrist. Therefore, no twisting of the fiber scope occurs within the operating range of the robot wrist axis. Also, even at any position in the operating range of the robot wrist axis as well, the angle of bend of the fiber scope can be held to a constant value below the allowable bending angly of the fiber scope. Consequently, it has been possible to realize an imaging device in which interference between the object to be worked and the optical system is remarkably improved.

Apparatus for supporting an imaging device

In a robot locus control metod, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working locus.

Robot locus control system

Growing community of inventors

Kitakyushu, Japan

Hajime Fujii