发明名称 |
Control system for an industrial robot with a foresight function. |
摘要 |
<p>A control system for an industrial robot having a hand which traces a pre-stored standard course defining its position and posture and which has a foresight function. The hand is provided with a tool and a work shape sensor, where the tool and the work shape sensor have a known spatial relationship. The foresight function is realized by a control system comprising temporary storing means for temporarily storing a future position and/or posture data of the tool calculated from a sensed position and/or posture data of the present sensor position. The stored data is output after a delayed time interval when it is compared with a pre-stored standard data. When the difference is small, the data is used to control the future position and/or posture of the hand. When the difference is great, an abnormality process is started.</p> |
申请公布号 |
EP0266070(A2) |
申请公布日期 |
1988.05.04 |
申请号 |
EP19870308743 |
申请日期 |
1987.10.02 |
申请人 |
TOYOTA JIDOSHA KABUSHIKI KAISHA |
发明人 |
ISHIGURO, YASUO TOYOTA JIDOSHA KABUSHIKI KAISHA;KATO, YOSHITO TOYOTA JIDOSHA KABUSHIKI KAISHA;TAKEDA, FUMIAKI K.K. TOYOTA CHUO KENKYUSHO;KOIDE, MITSUO K.K. TOYOTA CHUO KENKYUSHO;KUNO, TOSHITAKA K.K. TOYOTA CHUO KENKYUSHO;NAKANO, MASARU K.K. TOYOTA CHUO KENKYUSHO |
分类号 |
G05B19/18;B25J9/16;B25J9/18;G05B19/404;G05B19/4063;G05B19/4155;G05B19/42;G05B19/425 |
主分类号 |
G05B19/18 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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