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. 31, 1995
Filed:
Dec. 06, 1994
Fanuc, Ltd., Minamitsuru, US;
Abstract
A method of tracking a robot with respect to a circularly moving workpiece W. When a workpiece on a disc-shape conveyer remains stationary at a reference position W0, positions P0 and Q0 are taught to the robot in a stationary coordinate system .SIGMA.0 and the robot is placed on stand-by at a position A. The angular displacement of the disc-shape conveyer is detected by a pulse encoder and counting of the output pulses starts when the workpiece W arrives at the reference position W0. A CPU of a robot controller reads the counted amount in a short cycle and transforms it into a rotation amount .theta. of the conveyer from the reference position. Updating of matrix data for setting a rotary coordinate system .SIGMA.rot based on the rotation amount .theta. is repeated. When the workpiece W reaches the reference position W0, the CPU executes interpolation calculation for successively determining a target point to which the robot is moved, based on the position data of the waiting position and the position data of teaching points P0 and Q0. The position data obtained by the interpolation calculation in the rotary coordinate system .SIGMA.rot is converted into the position data in the stationary coordinate system .SIGMA.0 and the position of the robot is controlled based on thus obtained position data.