Teaching data preparing method for articulated robot

Details Teaching data preparing method for articulated robot Teaching data preparing method for articulated robot

B - Operations, Transporting

25

J

B25J 9/22 (2006.01) G05B 19/425 (2006.01)

Patent

CA 2526459

Set the first temporary attitude of an end effector for a plurality of work points (step S3). Determine the attitude of an articulated robot at one-end first work point out of a plurality of work points (step S4). Determine the attitude of an articulated robot at the-other-end final work point out of a plurality of work points (step S5). Set the second temporary attitudes of an end effector respectively for the other work points so that the attitude of an end effector gradually changes from the first work point toward the final work point (step S6). Correct the first temporary attitude with the second temporary attitude (step S7).

Le procédé de cette invention consiste à établir la première attitude temporaire d'un effecteur terminal pour une pluralité de points de travail (S3) ; déterminer l'attitude d'un robot articulé à un premier point de travail d'une extrémité en dehors d'une pluralité de points de travail (S4) ; déterminer l'attitude d'un robot articulé au point de travail final de l'autre extrémité en dehors de la pluralité de points de travail (S5) ; établir les secondes attitudes temporaires d'un effecteur terminal pour les autres points de travail de sorte que l'attitude d'un effecteur terminal se modifie progressivement du premier point de travail au point de travail final (S6) et corriger la première attitude temporaire par la seconde attitude temporaire (S7).

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