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. 16, 1997
Filed:
Jul. 14, 1995
Fumikazu Terawaki, Yamanashi, JP;
Fanuc Ltd., Yamanashi, JP;
Abstract
A robot is moved to a laser sensor detection angle adjustment position, and scanning with a laser beam is started. As this is done, a reading-scanning operation of a CCD light detector of a laser sensor is executed repeatedly, and cell numbers i for maximum detection outputs and their output values .beta.i are stored. When the laser beam scanning is finished, the individual output values .beta.i are compared with a reference value .alpha.. If all the values .beta.i are not greater than the reference value .alpha., then the robot attitude is changed by a small angle, and repetition of laser beam scanning, reading-scanning of the CCD detector, storing of cell numbers i for the great detection output and their output values .beta.i and comparison between the values .beta.i and the reference value .alpha. are repeated. An attitude .phi. for the point of time when the reference value .alpha. is exceeded by all the values .beta.i is taught to the robot, and a welding operation is performed by moving the robot along a step corner line of a workpiece in a manner such that an instruction path is corrected in accordance with a conventional real-time tracking system based on the laser sensor without changing the robot attitude .phi..