Toyota Jidosha Kabushiki Kaisha

Kabushiki Kaisha Toyota Chuo Kenkyusho

Yoshizumi Itou

Yasuo Ishiguro

Osamu Shiroshita

Masaru Nakano

A system is provided for controling a robot operating in association with a rotary table, including a robot, a rotary table, and a control circuit. The control circuit carries out a step of composing and storing teaching data as values on a rotary table orthogonal coordinate system (UVW axes), the rotational shaft of the rotary table being the vertical (W) axis, a step of calculating the UVW coordinates of a plurality of interpolation points by carrying out path interpolation along a line and/or curve defined by the stored teaching data, a step of calculating the degree of rotation of the rotary table which is required to bring each of the interpolation points into the U-W plane, a step of computing the UVW coordinates of the positions that the interpolation points occupy as they pass through the U-W plane, a step of transforming the data obtained by the computing step from coordinates in the UVW coordinate system to coordinates in a robot assigned coordinate system (XYZ axes) or orientation positions of the joint axes of the robot, and operating the robot in accordance with the information thus derived.

System for controlling a robot in association with a rotary table

Synchronous operation of a multi-joint robot and a rotating table is facilitated by the provision of a multi-joint robot controller. The robot controller detects the position of an arm of the multi-joint robot relative to a coordinate system assigned to the multijoint robot and the position of a specific point on the rotating table relative to the same coordinate system. The spatial relationship of the table relative to the multi-joint robot is calculated based on the coordinates of a plurality of positions of the specific point on the rotating table.

Multi-joint-robot controller for enabling detection of the spatial

A tracking robot apparatus has a robot for performing a predetermined operation, a movable device for moving an object of interest, a signal input device for designating operations of the robot and the movable device, an operation device for calculating an operation instruction value of the movable device in response to an input signal from the signal input device, a controller for driving the movable device in accordance with the calculated operation instruction value, an operation device for calculating a position/posture instruction value to keep relative position and posture of the robot and the movable device unchanged upon operation of the movable device, and a controller for driving a robot in accordance with the calculated position/posture instruction value. The movable device is operated in response to the signal from the signal input device, and at the same time the robot is operated such that the relative position and posture of the robot and the movable device are kept unchanged.

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Toyota, Japan

Yoshizumi Itou