The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 02, 1988
Filed:
May. 30, 1986
Satoru Nio, Kitakyushu, JP;
Hitoshi Wakisako, Kitakyushu, JP;
Yaskawa Electric Mfg. Co., Ltd., Kitakyushu, JP;
Abstract
A method of detecting and controlling a work start point of a robot of the teaching playback control type is disclosed. The robot has an interpolating function and responds to a position sensor, and a work tool is attached to the robot wrist to be accurately positioned to a work start point of a work object. A shadow of the work tool is produced by an illumination source. The work line of the object, the work tool, and the shadow thereof are image-recognized by a visual sensor. The visual sensor generates position correcting signals along the first and second correcting directions on the basis of the image recognized. The edge of the work tool is moved along the first correcting direction in response to a position correcting signal so as to reduce the distance between the work line and an edge of the work tool on the image recognized. The edge of the work tool is moved along the second correcting direction in response to a position correcting signal so as to reduce the distance between the work tool edge and an edge of the shadow of the work tool on the image recognized. The operations to move the work tool edge in the first and second correcting directions are repeated until the work line, the work tool edge, and the edge of the shadow thereof all coincide on the image recognized.