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:
Mar. 23, 1999
Filed:
Dec. 14, 1995
Fumikazu Terawaki, Oshino-mura, JP;
Mitsuhiro Okuda, Oshino-mura, JP;
FANUC Ltd., Yamanashi, JP;
Abstract
A method of controlling a robot to perform a weaving action and a tracking action using a non-contact sensor. When a weaving start command with a condition of a cycle Tw is issued, a laser sensor starts scanning in a cycle Tw/2n in synchronism with the start of weaving action, and outputs sensor data for every scanning time to be stored in a memory. After starting the weaving action, the robot performs a weaving action with a welding line as a reference path, until the tool reaches the weaving extreme (Sm, Sn+m, S2n+m, . . . ) or the termination of the weaving according to the weaving condition. Since a timed relationship between the weaving action and the scanning action of the laser sensor is known, the robot position corresponding to detection data can be calculated, based on which it is possible to successively determine a target position of the robot movement by adding a weaving amount for each detection point. The weaving action is synchronized with the scanning of the laser sensor every time the robot reaches the position of the weaving extreme Sm, Sn+m, . . . to pause and the weaving action is continued tracing the welding line as a reference path.