Kabushiki Kaisha Sankyo Seiki Seisakusho

Yukio Oguchi

Kazuyoshi Yasukawa

An apparatus for controlling operation of an industrial robot having a drive source for moving an arm to a preset position to effect operation under the control of a program. The position of the arm is detected and an output in the form of an electric signal is generated by a detector. A memory stores a position signal corresponding to a prescribed position ahead of the preset position. A comparator compares signals from the electronic detector and the memory and issues a position completion signal irrespective of arm movement when the arm reaches the prescribed position. The detector, memory and comparator are added in parallel to an arm driver unit, whereby the program can proceed while the arm is being moved.

Apparatus for controlling operation of an industrial robot

A robot control apparatus for controlling the movement of an arm of a robot with respect to a workpiece transported upon a pallet moving down an assembly line, wherein the position of the arm of the robot is compensated for in accordance with the position of the workpiece. A reference position memory stores a reference position of one of the pallet and workpiece. A position detector detects the position at which the pallet of workpiece is clamped along the assembly line. A difference between the outputs from the reference position memory and the position detector is used to correct a value stored in a work position memory to thus provide the output data which controls the movement of the arm of the robot.

Robot control apparatus

An operation control apparatus for industrial robot in which a speed pattern optimum for the particular task to be performed is utilized. The operational control apparatus includes a plurality of operating program memories for storing completed operating programs compiled by a separate programming device, a speed pattern memory for storing plural speed patterns, a changeover signal generator which generates a changeover signal in response to a predetermined sensed operating parameter of the industrial robot or in response to operation of manual changeover switch, and a changeover circuit for selecting an optimum speed pattern in response to the changeover signal. Rising and falling slopes of the speed patterns can be made different from one another so that the arm of the industrial robot can be moved at a greater speed when it is not in contact with a workpiece than when it is actively manipulating a workpiece.

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Nagano, Japan

Yukio Oguchi