Kobe Steel, Ltd.

Takeshi Koike

Atsushi Fukunaga

Masayuki Shigeyoshi

Toshihiko Nishimura

Tsutomu One

Masaki Shibaike

Portion of a display panel with computer icon

A total time necessary for work is shortened by reducing program correcting. A control device has a teaching program storage storing a teaching program, a command interpreter transmitting a movement-related command to a movement-related command separator, determining whether the command is a synchronous interval command or an asynchronous interval command and separating the movement-related command into command of each device according to a determination result, and executing a non-movement-related command, a movement-related command buffer selecting one of the transmission of the movement-related command to the sub-locus calculator and accumulating movement-related command therein based on a device movement state, a main locus calculator calculating movement information on the device on which synchronous control is performed from the movement-related command, a sub-locus calculator calculating movement information on the device that is not a synchronous control target based on the movement-related command, and a motor driver performing operations of the devices.

Industrial-use robot and control system and control method for controlling operation of peripheral device

The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S) on the basis of interpolated points calculated in step(S). After exception conditions are satisfied (Yes side of S), until the working parts reach the work completed position (No side of S), the angle of each of the drive shafts of the first articulated drive system required to vary each of the drive shafts of the first articulated drive system in a linear manner with the angle at the work completed position as a target is calculated (S), and the angle of each of the drive shafts of the second articulated drive system is calculated on the basis of the position of the working part at the interpolated point calculated in step(S) and the angle of each of the drive shafts of the first articulated drive system as calculated (S), and the drive shafts of the first and second articulated drive systems are driven according to said calculation results (S).

Control device, control method, and control program for articulated robot

An electrode position control method according to the present invention includes a voltage detecting step of detecting voltages on a leading electrode and a trailing electrode that are brought into contact with a welding workpiece, a sensing step of detecting positional information of the welding workpiece from electrical changes in the voltages, a correction amount calculating step of calculating a correction amount for correcting for positional displacement of each of the leading electrode and the trailing electrode with respect to a weld line from the positional information, and a position correcting step of correcting the respective positions of the electrodes by adding or subtracting the correction amount.

Electrode position control method for tandem arc welding, robot controller for tandem arc welding system, and tandem arc welding system

A robot controller that controls a tandem arc welding system according to the present invention includes a leading-electrode correcting section that calculates a leading-electrode correction amount, used for correcting a displacement in a left-right direction and an up-down direction, from a leading-electrode changing amount calculated by a leading-electrode processing section; a leading-electrode correcting section that calculates a trailed-electrode correction amount, used for correcting a displacement in a rotational direction, from a trailed-electrode changing amount calculated by a trailed-electrode processing section; a rotational-displacement correction controlling processing section that calculates a rotational-center correction amount for correcting the displacement of the leading electrode; and a robot trajectory planning processing section that corrects a teaching position and a position of a rotational center of a welding torch during tracking correction. By such a structure, even if arc tracking is carried out at any rotational center, displacement of the leading electrode does not occur, so that defective welding does not occur.

Robot controller that controls tandem arc welding system, arc tracking controlling method using the robot controller, and the tandem arc welding system

A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.

Growing community of inventors

Fujisawa, Japan

Takeshi Koike