Method and robot installation for programmed control of a...

B - Operations – Transporting – 25 – J

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342/22.1

B25J 9/06 (2006.01) B25J 5/02 (2006.01) B25J 9/02 (2006.01)

Patent

CA 1272275

ABSTRACT: A method and robot installation for programmed control of a working tool to perform processing operations on an object on the basis of preprogrammed tool path data (K) stored (L) in a data memory (U) utilize for this purpose a movable servo- actuated robot arm system (MP) having more than six degrees of freedom. During the programmation, which is performed by manually guiding the tool and the robot arm system, said path data are derived in an outer coordinate system (A) without physical connection with the robot arm system. For coordinate transformation to the inner coordinate system associated with the robot arm system, this arm system is considered subdivided into system parts (C, E, H, J) which are movable relative to each other and each has at most six degrees of freedom, positional data (Q, R, F) for each system part (C, E, H), apart from one system part (J) which is connected with the inner reference coordinate system, being derived and stored (L) in the memory (U) in addition to the obtained tool path data (K). With this manual guidance, the controlled system parts are at all times placed in such positional relation to the outer coordinate system that the working tool may be guided manually to performing the intended processing operations by means of that system part which is associated with the inner reference coordinate system. During the reproduced servo control of the working tool and the robot arm system when operating of the robot installation, said coordinate transformation data (Q, R, F) are utilized for bringing the programmed control of the working tool on the basis of the stored tool path data (K) in the outer coordinate system at all times in appropriate correlation with the inner coordinate system associated with the robot arm.

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