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:
Sep. 07, 1993
Filed:
Jul. 02, 1992
Fumio Kasagami, Nara, JP;
Seisuke Kugumiya, Oita, JP;
Kabushiki Kaisha Daihen, Osaka, JP;
Abstract
An industrial robotic system related to the present invention provides a workpiece handling robot manipulating a workpiece and a tool handling robot manipulating a tool processing the workpiece. A teaching control device for manual operation of the robotic system controls not only the execution of a conventional sole-acting manual mode of operation, but also the execution of a co-acting manual mode of operation. According to a co-acting manual mode of operation, 'a relative position and a relative attitude of a tool against a workpiece' are maintained substantially constant. When the manipulation of the workpiece is executed in order to get a new setting state by means of a co-acting manual mode of operation from an initial setting state, the tip point of the tool is remained at an aimed point on the workpiece and an attitude of the tool against the workpiece is maintained without interference between the tool and the workpiece. The new setting state for teaching a new teaching point is established by means of sole-acting manipulating the tool from the aimed point manipulated by the workpiece handling robot to a new aimed on the workpiece.