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. 04, 1994
Filed:
Jul. 06, 1992
Fumio Kasagami, Ikoma, JP;
Seisuke Kugumiya, Kitsuki, JP;
Daihen Corporation, Osaka, JP;
Abstract
In an apparatus for controlling an industrial robot system comprising a workpiece handling apparatus having first revolute joints for moving a workpiece, and a tool moving apparatus having second revolute joints for moving a tool so as to move the workpiece and the tool on a predetermined trajectory between two adjacent teaching points, there are calculated a position and an attitude of a predetermined coordinate system of a predetermined workpiece attachment reference point based on a coordinate system of a baseplane of said workpiece handling apparatus, and a position and an attitude of a predetermined coordinate system of a predetermined tool attachment reference point based on a coordinate system of a baseplane of said tool handling apparatus, from inputted teaching data. Further, there are calculated joint variables of the first and second revolute joints for moving tile workpiece and the tool on the trajectory, from the calculated data. Finally, the first and second revolute joints are simultaneously driven in accordance with the calculated joint variables thereof.