METHOD AND APPARATUS FOR CONTROLLING ROBOT HAVING SENSOR

摘要

The position of work contour is detected by a sensor. A real-time tracking on the work contour is executed by utilizing the output signals from the sensor for the correction of the path instructed to follow. The positional sensing for the welding contour in forward areas of a robot is executed by the sensor held by a robot hand in order to obtain the positional data on the sensing point kSm. The sensing data are transformed into the coordinate data s (k, m) for the coordinate system of the workpiece, and then, processed by use of the data on the zone Pk Pk+1 of the instructed path to which the sensing point kSm belongs. The data thus processed are stored in a buffer memory of a ring memory type together with the coordinate data on the sensing point. Immediately before the execution of the tracking, the required data are read from the buffer memory to obtain the target point of a tracking in a short period of time. The amounts of correction for the interpolating points and instructed points are calculated for the generation of the output for controlling each of the shafts, and transferred to a servocontrol system in order to allow the robot to move toward the target point of the tracking.