Kabushiki Kaisha Yaskawa Denki

Kabushiki Kaisha Yaskawa Denki Seisakusho

Minoru Yamamoto

Hirokazu Kariyazaki

Michiharu Tanaka

Shinichi Maehara

Shuichi Tounai

Satoshi Gosho

A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.

Robot system

A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant () to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (), includes a detecting device () for detecting the position of the teacher; a signal processing unit () for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit () for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit () on the basis of the operation command from the pendant ().

Robot controller and robot system

A quick method of calibrating an industrial robot. A calibrating device (3) which has 6 degrees of freedom and has a displacement detector for each of 6 axes is mounted either to a reference surface (lp) established on the robot (1) itself or to a reference surface having a known positional relation to the robot. The front end of the calibrating device (3) is mechanically coupled to the front end of the wrist of the robot. The position and the posture of the robot are calculated from the data for the position and the posture of the calibrating device derived from the displacement detectors of the calibrating device (3) to calibrate the robot.

Method of calibrating an industrial robot

Control method and apparatus for a robot having multi-rotating axes

Growing community of inventors

Kitakyushu, Japan

Minoru Yamamoto