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:
Aug. 25, 1998
Filed:
Jun. 22, 1995
Fumikazu Terawaki, Yamanashi, JP;
Fanuc, Ltd., Minamitsuru-gun, JP;
Abstract
A robot controlling method and apparatus using a laser sensor in which an optimum moving path is realized even if the accuracy of positioning workpieces is low. While a laser sensor is operated, a robot is started to move toward a taught position corresponding to the start position of a welding line. When the workpieces W1 and W2 are detected, a three-dimensional position of the points Q1-Q4 are calculated. The equations of a straight line Q1Q2 and a straight line Q3Q4 are obtained from position data of points Q1-Q4, and a corner position Q0 is calculated as a crossing point of these two straight lines. Then, access is made to a register, which is designated by an address designation counter value i, to read position shift data. When i=1, .DELTA.x=.DELTA.y=.DELTA. is read and a position shifted from the position Q0 by .DELTA. respectively along the straight lines Q1Q2 and Q3Q4 is calculated as a target position to which the robot movement is performed. In the first moving cycle for forming the first welding layer, a path a is realized. Likewise, in the subsequent moving cycles, different position shift data are read to realize the paths a-f successively.