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:
Jul. 08, 1997
Filed:
May. 22, 1995
Ryuichi Hara, Fujiyoshida, JP;
Ichiro Kanno, Oshino-mura, JP;
Fanuc Ltd., Yamanashi, JP;
Abstract
A method of obtaining a force of each axis of a robot from the product of positional deviation and positional gain. A vector having components of the forces as many as the number of axes is defined and transformed into a vector on the base coordinate system. Based on the vector, a normal line vector on the profiling object plane is determined. The attitude of the robot is controlled so that the direction of the normal line vector may coincide with the Z axis of the tool coordinate system. Next, the positional gain of each axis, which would serve to make the force in the direction of the normal line vector constant, is determined, with the position deviation fixed. Further, the tangential direction of the moving path at the position is obtained, and the moving target position of the robot is determined in that direction. Then, the amount to be added to the position deviation of each axis, which is required to realize the speed for moving the robot RB toward this moving target position, is calculated, and is added to a positional deviation calculation section of a position control loop.