Hitachi, Ltd.

Shunji Mohri

Akira Miyakawa

Kenji Takeda

Koichi Kitamura

Seiji Hata

Akira Ashida

Kenji Suzuki

Kichie Matsuzaki

Hideaki Matoba

Masaru Ishikawa

Tadamasa Kamikubo

Takushi Okada

Shigeru Masuda

An autonomous and decentralized production control system comprising a plurality of production cells for performing the assembly and machining work. Each production cell proceeds with the production procedure by performing jobs in accordance with the works charged thereinto. A first embodiment comprises working cells each including a device for determining the working cell for executing an intended job. A second embodiment comprises a pallet for carrying an object of a job, and a device for determining the order of job priority in order to meet the product delivery time. Each working cell decides on the advisability and time of performing the job on the object, thereby autonomously implementing the production control.

Production control system of autonomous and decentralized type

An origin of a robot coordinate system is determined exactly as a center of a circular arc described by actuating a first axis only thereof and marking at least three points on a horizontally arranged sheet, at which an origin of an absolute coordinate system is set. In order to obtain the relationship between two coordinate system, making the both origin coincide with each other, then two y axis symmetrical points are measured to determine y axis. Then another two points are measured to obtain structural errors. Using structural errors, compensation of a numerical instructed point is carried out to make the robot position with high accuracy. Further, in order to remove backlash of the driving system, an intermediate point is set on a route toward a certain positioning point so that the driving system always rotates in one direction by some amount when moved to the final, aimed point.

Structural error correction method for SCARA robot

In a robot having a servo control section for driving an actuator, an arithmetic operating unit, memories, and input and output devices, a method and apparatus provide teaching data from one robot to another. First, there is detection of mechanism errors peculiar to a particular robot of interest. Standard position information obtained from the result of a teaching operation and compensation of the mechanism errors of another robot is used with the mechanism errors of the particular robot to calculate the corrected standard position information (teaching data for the particular robot). This information is derived by subtracting the mechansim errors of the particular robot from that standard position information to produce the teaching data for the particular robot.

Method and apparatus for generating and applying common teaching data of

Disclosed is a teaching apparatus for a robot comprising a graphic display capable of displaying characters, symbols, and figures, a pointing device capable of indicating any point on the display screen, a storage for storing character, symbol, and graphic information, and an arithmetic and logic unit for taking in three dimensional data and data of hand coordinates system stored in the storage, calculating a conversion matrix t.sub.v for conversion to data of hand coordinates system and a conversion matrix T.sub.p for projection to the hand coordinates system, converting three dimensional data to two dimensional data according to the thus calculated conversion matrices T.sub.v and T.sub.p, and allowing a display of surroundings viewed from a view point of the robot in motion or at rest to be made on the graphic display.

Teaching apparatus for robot

A system for carrying out a cooperative control operation for a plurality of automated devices connected together in which the individual operations of the automated device can be controlled individually in accordance with a program. In the control method in this system, the controlling of various automated devices is practiced by inputting a program described in a language which has a unified system, and translating this program in accordance with the combination of the automated devices.

Method of and apparatus for controlling automated devices

A table driven translator is provided which is capable of translating an input language into a machine-oriented language and handing changes in the syntax of the language inputted to a computer by rewriting a translation rule table. The translator comprises an input device for inputting an input language to the computer, an internal storage for storing a name table for registering keywords associated with the syntax of the input language and characteristics of variable contained in the input language, and for storing an interpretation table for indicating procedures to control a flow of processing for interpreting the input language, and a control device for searching the name table to obtain an address of a location in the internal store device at which desired reserved words or a keyword is stored and to obtain from the name table an attribute of the keyword and variable and for checking whether or not the reserved word coincides with the input language syntax by a comparator comparing the attribute with an attribute stored in a field at a location indicated by a table pointer in the interpretation table, that is, the reserved word is assumed to be conforming to the input language syntax if these attributes are equal to each other, thereby to execute an interpretation processing and to translate the input language into a machine-oriented language suitable for a desired computer. The maintainability and expandability of language processing in the computer is improved.

Table driven translator

A position error correcting method and apparatus suitable for operating an industrial robot with high accuracy, in which, after the industrial robot disposed on a working site is moved according to position command values, the moved position of a measurement point on the industrial robot is measured three-dimensionally, and a position error of the industrial robot between the robot coordinate system relating to the operation of the industrial robot and the absolute coordinate system of the industrial robot on its working site is computed by comparing the measured position values of the measurement point with the position command values. The work program prepared for the operation of the industrial robot is modified on the basis of the computed position error so that the industrial robot can be operated in accordance with the work program from which the source of the position error has been eliminated.

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Yokohama, Japan

Shunji Mohri