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:
Jan. 26, 2016
Filed:
Mar. 02, 2012
Tsutomu One, Kobe, JP;
Toshihiko Nishimura, Kobe, JP;
Masayuki Shigeyoshi, Fujisawa, JP;
Takeshi Koike, Fujisawa, JP;
Tsutomu One, Kobe, JP;
Toshihiko Nishimura, Kobe, JP;
Masayuki Shigeyoshi, Fujisawa, JP;
Takeshi Koike, Fujisawa, JP;
Kobe Steel, Ltd., Hyogo, JP;
Abstract
The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S) on the basis of interpolated points calculated in step(S). After exception conditions are satisfied (Yes side of S), until the working parts reach the work completed position (No side of S), the angle of each of the drive shafts of the first articulated drive system required to vary each of the drive shafts of the first articulated drive system in a linear manner with the angle at the work completed position as a target is calculated (S), and the angle of each of the drive shafts of the second articulated drive system is calculated on the basis of the position of the working part at the interpolated point calculated in step(S) and the angle of each of the drive shafts of the first articulated drive system as calculated (S), and the drive shafts of the first and second articulated drive systems are driven according to said calculation results (S).