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:
Oct. 19, 1993
Filed:
Jul. 22, 1992
Kiyoshi Kanitani, Toyama, JP;
Nachi-Fujikoshi Corp., Toyama, JP;
Abstract
In order to synchronize the operations of at least two industrial robots which can operate independently of each other in accordance with their respective operation programs, the time is obtained which is required for one of the robots serving as the master to move from one working position to the next position at which it operates jointly with the remaining robot. The remaining robot serving as the slave is moved from the position where it exists at present to another position corresponding to said next position, thereby synchronizing the operations of all the robots. An apparatus for such synchronous control comprises a program used to compute with a specified moving speed the interpolation movement due to which each robot is moved between the adjacent working positions and a program used to compute the interpolation movement with a specified moving time. In case of the asynchronous control, the robots move independently in accordance with their respective operation programs. On the other hand, in case of the synchronous control, the interpolation movement of the master robot is decided according to the moving speed specified program, while the interpolation movement of the slave robot is decided according to another program with the moving time of the master robot being specified.