METHOD OF CONTROLLING TOOL ATTITUDE OF A ROBOT

Title:

METHOD OF CONTROLLING TOOL ATTITUDE OF A ROBOT

Document Type and Number:

WIPO Patent Application WO/1989/008878

Kind Code:

A1

Abstract:

A method of controlling tool attitude of a robot to intentionally control at all times the tool attitude between a start point and a finish point of work. Angles (1s), (1e) subtended by the tool and a reference plane (1), angles (2s), (2e) subtended by the tool projected on the reference plane (1) and a reference line (3) set on the reference plane (1), and rotational positions (3s), (3e) about the tool axis of the tool, are calculated in compliance with the tool positions and tool attitudes at a start point (P1) and a finish point (P2) that have been taught to the robot in advance. Positions, angles and rotational positions of the tool are then interpolated between the start point (P1) and the finish point (P2) in order to control the position and attitude of the tool depending upon the results of interpolation.

Inventors:

HARA RYUICHI (JP)

Application Number:

PCT/JP1989/000262

Publication Date:

September 21, 1989

Filing Date:

March 09, 1989

Export Citation:

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Assignee:

FANUC LTD (JP)

International Classes:

B25J9/10; B25J9/16; B25J9/18; G05B19/41; G05B19/4103; (IPC1-7): G05B19/415; B25J9/10

Foreign References:

JPS62285110A	1987-12-11
JPS61198304A	1986-09-02

Other References: