Toyota Jidosha Kabushiki Kaisha

Kawasaki Jukogyo Kabushiki Kaisha

Yoichi Nagao

Hisanori Nakamura

Kazuhiko Onoue

Hideaki Ohta

A method and apparatus for controlling an industrial robot. Values of .theta..sub.i for positions/postures of robot axes are determined, when a work mounted to the end of a robot hand is located adjacent to the end of a fixed tool, the tool being separated from the robot. Positions/postures Xi are determined in a reverse representation of the robot base for a coordinate system of the end of the hand, for the values of .theta..sub.i, by a forward transformation operation by which positions/postures of the end of the hand with respect to the base are determined using the values .theta..sub.i. Positions/postures T.sub.i in a matrix representation of the end of the tool in the coordinate system of the end of the hand are also determined, for the positions/postures of the axes, based on X.sub.i and predetermined positions/postures P of the end of the tool using the coordinate system of the base. Intermediate positions/postures T.sub.j each between two T.sub.i positions/postures are determined, using an interpolation function. Positions/postures X.sub.j are determined in a reverse matrix representation of the base using the coordinate system of the end of the hand based on P and T.sub.j. Positional values .theta..sub.j corresponding to positions/postures of the axes and to X.sub.j are determined, using a reverse transformation operation. The robot is then driven using .theta..sub.j.

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Kakogawa, Japan

Yoichi Nagao