Nachi - Fujikoshi Corporation

Kabushiki Kaisha Fujikoshi

Nihon Sogyo Kabushiki Kaisha

Kazuo Hariki

Kazuya Ishiguro

Tatsuya Koizumi

Kiyoshi Kanitani

Masaki Togitani

Kazuyuki Doi

Shin-ichi Izumisawa

A robot control method of the playback type and an apparatus for using the method in which position data and data regarding velocity are taught at a sequence of points for a work program, and a servo system is driven by the use of the taught data to playback or repeat the work program. Phase angles which increase as the robot progresses through the sequence of teaching points are taught as the data regarding the velocity of the work program. At playback, a reference phase angle computed on the basis of a previously-set playback cycle time for the work program. The reference phase angle increases at an advance velocity which decreases with an increase in the playback cycle time. During operation, the reference phase angle is compared with one of the taught phase angles, and the corresponding taught position data is outputted to the servo system when the reference phase angle exceeds the taught phase angle.

Robot control method and apparatus

An industrial robot system comprising a plurality of robots for conducting a work in cooperation with each other. A system clock is provided in the system, and clocks are provided in the respective robots. These clocks are counted up at the same cycle time, and are set for original points of the respective robots, which are the waiting positions thereof, and the clock values of the robots located in the respective positions during the drive operation. During the drive of the system, the system clock is advanced by adding a predetermined increment value thereto, and the respective robots held under the enabling condition, start the operations by advancing the robot clocks by adding the same increment value as that of the system clock.

Industrial robot system

An industrial robot system comprising a single working machine, and a plurality of robots arranged so as to transfer a work to and from this working machine. The operation of these robots and the working machine is controlled by a single control unit, and the operation of all the robots is controlled in a realtime manner in synchronism with the operation of the working machine, thereby ensuring the smooth operation of the overall system while obviating waiting time of each robot and the working machine without using a conventional mutual interlock system. The control unit is set so that clocks of the robots and the working machine and the system clock are counted up in the same cycle time, simultaneously therewith the original point clock value of the robot or the working machine located on the most upstream side of the system is set as the original clock value of the system, and each of the robots and the working machine is operated as the count of the system clock reaches the original clock value of the robot on the working machine.

An off-line teaching method for an industrial robot wherein a master robot, separate from a line robot, placed in an actual operation line, and a model work similar to the line work processed in the operation line are prepared. Four predetermined points which are not in the same plane are obtained on each of the works, and are taught to the line and master robots in the same order to obtain a reciprocal transformation matrix. The transformation matrix is used to automatically transform an operation program taught to the master robot into an operation program for the line robot.

Growing community of inventors

Toyama, Japan

Kazuo Hariki