JPS6420987A - Robot controller - Google Patents

Robot controller

Info

Publication number
JPS6420987A
JPS6420987A JP17726787A JP17726787A JPS6420987A JP S6420987 A JPS6420987 A JP S6420987A JP 17726787 A JP17726787 A JP 17726787A JP 17726787 A JP17726787 A JP 17726787A JP S6420987 A JPS6420987 A JP S6420987A
Authority
JP
Japan
Prior art keywords
robot
coordinate system
virtual coordinate
motion
tip position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP17726787A
Other languages
Japanese (ja)
Inventor
Kenjiro Fujii
Yukiji Shimomura
Kazuyoshi Teramoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Hitachi Keiyo Engineering Co Ltd
Original Assignee
Hitachi Ltd
Hitachi Keiyo Engineering Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd, Hitachi Keiyo Engineering Co Ltd filed Critical Hitachi Ltd
Priority to JP17726787A priority Critical patent/JPS6420987A/en
Publication of JPS6420987A publication Critical patent/JPS6420987A/en
Pending legal-status Critical Current

Links

Landscapes

  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: To facilitate the teaching operation of a teaching-playback type robot by providing a control means for converting the operation quantity of the robot on a virtual coordinate system having certain relation with a reference coordinate system of the robot, into the operation quantity on the reference coordinates of the robot. CONSTITUTION: A virtual coordinate system (simplified user coordinate system) 5 determined by a hand tip position of a manipulator 1 in a reference coordinate system 4 of a robot R is set every optional hand tip position by a virtual coordinate setting means. A manual operation command inputted on the basis of the thus set virtual coordinate system 5 is converted into a hand tip position of the manipulator 1 in the reference coordinate system 4 by a control means to put the robot R in action. As a result, even in the case of combining a plurality of work stations, the motion of the robot R is the motion on the virtual coordinate system 5, so that the motion of the robot R coinciding with the sensation of a worker 2 can be obtained in all the work stations so as to facilitate the teaching operation of the robot R.
JP17726787A 1987-07-17 1987-07-17 Robot controller Pending JPS6420987A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP17726787A JPS6420987A (en) 1987-07-17 1987-07-17 Robot controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP17726787A JPS6420987A (en) 1987-07-17 1987-07-17 Robot controller

Publications (1)

Publication Number Publication Date
JPS6420987A true JPS6420987A (en) 1989-01-24

Family

ID=16028070

Family Applications (1)

Application Number Title Priority Date Filing Date
JP17726787A Pending JPS6420987A (en) 1987-07-17 1987-07-17 Robot controller

Country Status (1)

Country Link
JP (1) JPS6420987A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0218602A (en) * 1988-07-07 1990-01-22 Fanuc Ltd Play-back system
JPH02271405A (en) * 1989-04-12 1990-11-06 Yaskawa Electric Mfg Co Ltd Controlling method for robot
JP2012066322A (en) * 2010-09-22 2012-04-05 Daihen Corp Robot control system
WO2016084932A1 (en) * 2014-11-29 2016-06-02 ライフロボティクス株式会社 Robot device and robot control device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0218602A (en) * 1988-07-07 1990-01-22 Fanuc Ltd Play-back system
JPH02271405A (en) * 1989-04-12 1990-11-06 Yaskawa Electric Mfg Co Ltd Controlling method for robot
JP2012066322A (en) * 2010-09-22 2012-04-05 Daihen Corp Robot control system
WO2016084932A1 (en) * 2014-11-29 2016-06-02 ライフロボティクス株式会社 Robot device and robot control device

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