Showing papers on "Robot published in 1980"

Method and apparatus for calibrating a robot to compensate for inaccuracy of the robot

Abstract: A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.

Effective Utilization of Industrial Robots—A Job and Skills Analysis Approach

Abstract: The comparative abilities and limitations of industrial robots and humans are reviewed. This comparison leads to the development of a robot oriented job and skills analysis method with a two-fold objective: 1) to optimize a robot's task-performance, and 2) to guide the specification of the appropriate robot for given tasks. An example of water pump assembly by a robot is used to illustrate the proposed method and its usefulness.

Method and apparatus of robot teaching

Abstract: A method for teaching an operation of a robot to the robot and its apparatus are disclosed in which a force sensor capable of sensing three-directional force components and three-directional moment components at the maximum is provided at the wrist of the robot. An operator for teaching the robot applies the force or the moment to the force sensor. The data representing the force or the moment is taken out from the sensor to drive the robot in the force or moment direction and the robot drive data thus collected are loaded into a memory device of the robot control unit. A plurality of directional parameters representing a position of the front end of the arm of the robot and a plurality of directional parameters representing a posture of the wrist define a state of the robot. Therefore, a plurality of directional components of force obtained from the force sensor are made correspond to the parameters representing the robot position and a plurality of directional parameters of the moment are made correspond to the parameters representing a posture of the wrist.

Numerical control system for controlling both a machine tool and a robot

Abstract: A numerical control system comprising a numerical control device, a machine tool for machining a workpiece under the control of the numerical control device, and a robot for executing various tasks such as mounting the workpiece on the machine tool or demounting the workpiece therefrom. The numerical control device, in addition to the hardware which it possesses for controlling the machine tool, is further provided with a teaching control panel, a heavy current circuit which handles the exchange of data between the numerical control device and the robot, and a switching control circuit for switching over the output side of a pulse distributing circuit so that the pulse distributing circuit can be used in controlling both the robot and the machine tool. Machining data for control of the machine tool and data for commanding the robot are stored in a memory device incorporated in the numerical control device, or in a storage medium which is located externally of the system. The stored data can be read out in succession to designate the machine tool, which will then perform a machining operation, or to designate the robot which will respond by executing a prescribed task or tasks.

Machine tool and robot control apparatus

Abstract: A machine tool and robot control apparatus, for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial robot, has the numerical control device and the robot control device connected to each other by means of a data transfer line. Each of the numerical control device and the robot control device is provided with a circuit for transmitting and receiving data which are exchanged through the data transfer line. The robot command data for controlling the robot, as well as the machining data for controlling the machine tool, are stored in a non-volatile memory device provided only in the numerical control device, through the data transfer line and respective circuits for transmitting and receiving data. The robot command data are successively read out from the non-volatile memory device and are transferred to the robot control device through respective data transmitting and receiving circuits and the data transfer line, thereby to control the robot.

Control system of robot

Abstract: PURPOSE:To attain a teaching work simply in a short time without mistake by representing a plurality of robot service codes with a macrocode. CONSTITUTION:After the end of teaching work, the reproduction mode is taken. In the reproduction mode, when a robot service request signal RSR is generated from a machine tool, a robot controller RBC reads out a robot command data from a teaching memory TPM and executes the processing in accordance with the data for the execution of the specified service to the robot RBT. When the macrocode is read out from a memory TPM, a processing unit PU discriminates the code, reads a robot service code in response to the macrocode from a corresponding table MCT and sets the result to a work memory WKM. After the end of all the processings to the macrocode, the robot command data is read out of the memory TPM again and the similar processings are done afterward.

Programmierung und Führung von Roboterbewegungen

Abstract: This paper deals with the calculation of the reference input of a industrial robot controller. Treated in detail are the problems of the transformation of coordinates, particularly from “world”-coordinate systems into the joint coordinate systems. These transformations are an essential part for the calculation of reference input of industrial robots. They are necessary if using external sensors as well as teaching the robot using external coordinate systems. Hereby it is shown that the configuration of robots (number of joints, prismatic or revolute joints, arrangement of joints) makes a considerable difference for the solvability respectively for the fast and exact solution of the coordinate transformation.

Control of a flexible robot arm

Abstract: Exact equations of motion of an arm with known parameters were developed and analyzed preparatory to designing control systems for robotic manipulators. The design of an experimental one-link arm for testing control designs is presented.

Plan Generation and Execution for Robotics

Abstract: : A robot device operates by performing a sequence of actions, drawn from a reasonably small repertoire of action types. Industrial robots commercially available today are typically configured to perform a fixed sequence of actions, cued by some visual or contact stimulus. The action sequence is not subject to any significant alteration -- it is performed identically each time the stimulus is presented. Such robots can be called "reflex" robot systems, since they make a rather inflexible response to a fixed stimulus. The applicability of such systems is limited. Truly flexible automation must make use of significant sensory feedback to respond appropriately to each new stimulus. Thus, a worthwhile goal for robotics research is to develop the capabilities needed to create what one may call "instrumental" robot systems. The term "instrumental" is used to suggest, by analogy with classical psychology, the mediation of explicit goals and deliberately initiated actions (i.e., goal-oriented behavior) in the performance of the robot system. The development of such instrumental robots will require extensions of current capabilities in many areas, including control systems, mechanics, and sensors. At the core of the capabilities to be developed lies fundamental research in problem solving and the monitoring of plan execution. This paper discusses a number of problems that are critically in need of further research in support of advanced robotics, including dealing with time, planning for parallel execution, planning for information gathering, planning for planning, learning, interactive planning, dynamic plan repair, and distributed robotics.

Work robot incorporable with data processor

Abstract: PURPOSE:To realize a work robot which is capable of incorporating the data processor in order to secure a quick and proper teaching to the robot. CONSTITUTION:In the case of the coating robot, the coating gun is attached at the wrist of robot main body 1 as the tool for coating to the subject to be coated. And then provided at the conveyor side where the coated subject is conveyed to be connected to electric control unit 2. Main body 1 carries out the work under the control of controller 3 and based on the teaching data memorized in memory unit 4 of unit 2. In order to attain the functions of production, conversion, editing, maintenance, etc. of the teaching data to unit 4, switch 7 is changed over to be connected to data processor 5. Thus the input of data via the positioning control system plus deletion and alteration of part of the teaching data are carried out. Also the data can be produced through computer 12 and via part program 11.

Controller for work robot

Abstract: PURPOSE:To increase the application of the work robot by giving a direct interpolation to the deviation between the present value information and the position information of the robot, giving the command to the shift velocity of each axis of the robot and then controlling the driving system by the command to give a partial correction in the process of the work. CONSTITUTION:The position information of the work robot's arm and the frequency given from address advancing transmitter 14 are memorized in wire memory 11 based on the frequency from transmitter 14, and the arm's present value given from absolute encoder 12 is memorized in memory 11 via switch S1. Then the position information and the present value of the arm in memory 11 are read in sequence by the output of transmitter 14 and then transferred to velocity transmitter 13 through switch S2. After this, a direct interpolation is given to the deviation data between the position information and the present value, and a control is given through driving system 21 to secure the synchronization between the start and end points of each axis of the robot. In this case, the switching operation between switch S1 and S2 according to the work process in order to secure a partial correction in the process of the work. Thus the application of the work robot can be increased.

The blue-collar robot: The machine shop and the assembly line will be early beneficiaries of advanced robotic systems

Abstract: Discusses the future prospects for industrial robot systems predicting a high rate of growth through the 1980's.

Tactile Sensors and Their Application to Programmable Assembly Systems

Abstract: When using a future type of industrial robot, tactile sensing will be a main problem to solve advanced handling tasks in assembly. The report shows the possibilities of creating a tactile sensitive gripper/ sensorsystem, to perform some capabilities of the human workers hand. To carry out assembly tasks, several parts or subassemblies must be gripped or joined, using several kinds of grippers or tools. A special wrist was developed, to change these grippers and tools automatically by the arm of the robot. By means of the compliance of the elastic linkage between wrist and the robots arm, the gripper or tool can absorb small joinning forces and compensate joining clearances automatically. A build-in distance measuring system allows the programmed response of the robot in the case of oversized joining forces.

Industrial Robots: Today And Tomorrow

Abstract: This paper presents an overview of industrial robots, for those who work outside of robotics but are interested in robots and how they are used by industry. Areas to be discussed are: Basic robotics, definitinon of robot, composition of robots, types of robots; Current application of typical uses of each type of robot; Advanced robotics, systems, controls, vision, and future developments.© (1980) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Ein-/Ausgabe-Farbbildschirmsystem zur Bahnvorgabe

Abstract: This paper describes the goals for a system to program and guide robot paths by means of a graphically programmable I/O-Color-Screen-System (IOC-system) combined with T.V. cameras for the real scenes of the robot environment.

Protocols for Robot Communications: Transport and Content Layers

Abstract: : Communications between cooperating robots can be facilitated by using suitable communications protocols. This paper discusses many of the considerations that impact the form of such protocols, beginning with a primitive model of cooperating robots and their interactions with each other and the external environment. Consideration is paid to the role of the robot's internal model of its world, to the different functions of communications between cooperating robots, and to relevant characteristics of the communications environment. A layered protocol structure is presented, consisting of data transport layers borrowed from computer networking technology and task independent and task dependent content layers. Finally, the effects of the communications environment on this structure are discussed.

Robot control method

Abstract: PURPOSE:To reduce the time of teaching and thus to increase the working efficiency, by giving the teaching to three points on the work face and controlling an industrial robot within a plane region defined by said three points. CONSTITUTION:An industrial robot consists of a robot main body 1, a robot control board 2, an abrasive head 6, a control box and others. When the teaching is given to a work 7 carried to a carrying device 8, the teaching is given to three rectangular corner parts P1, P2 and P3 while moving the robot arm. Then a rectangular plane form having four corners is defined, and the abrasion feed pitch on the plane is defined by the head diameter and the abrasive lap margin to be supplied from the box 4. Thus a control is given to the work including the abrasion and the like. In such way, the time required for teaching can be reduced to enhance the working efficiency.

The prospect of an under wa ter na val robot

Abstract: This paper explores the concept of an underwater robot manipulator mounted on an unmanned submersible for the purpose of doing some undersea tasks of interest to the U.S. Navy. The robot concept is compared with other methods of doing work underwater and its strengths and weaknesses are enumerated. Such a robot would be able to do only simple, well-defined tasks, but it would probably be the most economical way of doing those jobs which are within its competence. The jobs which such a device might be able to do are listed and evaluated in terms of how easy or difficult they are for a robot to do. From this analysis some conclusions are drawn about what capabilities are needed in such a robot. It is concluded that speed of operation is not critical (In contrast to robots which are intended for industrial jobs), but that the ability to cope with unexpected conditions and to recover from mistakes is very important. Next, existing robot technology and past research***are discussed and evaluated in terms of the needs of an underwater naval robot. Gaps in the technology are identified, and, finally, me suggestions for research are given.