Kawasaki Jukogyo Kabushiki Kaisha

Masatoshi Sano

Naoyuki Matsumoto

Tsuyoshi Maehara

Tetsuhiko Nishimura

Nobuyasu Shimomura

Hiroaki Kagaya

Takahiro Ueno

Yoshinori Kegasa

A controller calculates first movement times when moving each robot hand from a movement start position to a synchronous operation position in a shortest time and decides the longest first movement time as a second movement time. The controller generates, for each robot, a robot operation plan for moving each robot hand without stopping from the movement start position to the synchronous operation position in the second movement time. The robot hand of each robot moves from the movement start position to the synchronous operation position without stopping and simultaneously reach the synchronous operation positions.

Robot controller and robot control method for synchronous operation and adjusting robot movement based on two movement times

The present invention has a communication connection means () which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means () which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta, ta, ta) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.

Cooperative control system of robots

A drive controller () of the present invention comprises control means (to) configured to perform control to cause a driven element to move by a driver (M) and a collision detecting means () configured to detect a collision of the driven element. The collision detecting means detects the collision of the driven element based on an estimated speed deviation which is an estimated deviation from an actual speed of the driven element or an estimated acceleration deviation which is an estimated deviation from an actual acceleration of the driven element.

Drive control method and drive controller

Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.

Drive-controlling method and apparatus and robot having the apparatus

The disclosed spot welding robot controlling method and apparatus is able to carry out an operation for pressurizing a spot welding gun without a dead time of a spot welding robot which has the spot welding gun driven by a fluid pressure. The control method includes the steps of measuring a gun closing time, measuring an axial coincidence time, calculating a time difference between the time point of the command position axial coincidence and the output time point of the pressurization command in an actual welding operation using the gun closing time and the axial coincidence time, and outputting the pressurization command to the spot welding gun at a time point which is derived by subtracting the time difference from the time point of the command position axial coincidence in the actual welding operation.

Method and apparatus for controlling spot welding robot

A method of generating a motion command for a robot, comprises providing a constant velocity region between an acceleration region when starting and a deceleration region when stopping for every repetitive period when moving the robot throughout a predetermined distance while periodically repeating the start/stop throughout a shorter distance than the predetermined distance.

Growing community of inventors

Kakogawa, Japan

Masatoshi Sano